The machine is in operation.

Abstract

The present invention can travel on an appropriate path regardless of the condition of a field (G).　A work machine (1) is provided with: a vehicle body (2); a first work device (60A) mountable on the vehicle body (2); a travel device (4); a first acquisition unit (57h) for acquiring a plurality of non-travelable lines (R1) formed for each first interval (x) of the field (G); and, a route creation unit (57d) for creating a first route (L1) including a plurality of first portions (La1) on the basis of the plurality of non-travelable lines (R1). The travel device (4) is disposed separated by a length that corresponds to the first interval (x). The route creation unit (57d) is provided with: a line definition unit (157a) for defining, as a plurality of travelable lines (R2) on the basis of the plurality of non-travelable lines (R1) acquired by the first acquisition unit (57h), a region in the field (G) other than the plurality of non-travelable lines (R1); and, a setting unit (157b) for setting, as the plurality of first portions (La1) on the basis of the plurality of travelable lines (R2) defined by the line definition unit (157a), a path which extends from one end side of the field (G) to the other end side and on which the travel device (4) travels on the plurality of travelable lines (R2).

Description

Work equipment

[0001] The present invention relates to a work machine such as a tractor.

[0002] BACKGROUND ART Patent Document 1 is known as a conventional technique for creating a target travel path for an agricultural machine.

[0003] The work vehicle assistance system of Patent Document 1 comprises a vehicle position detection module that detects the vehicle's own position, an unworked area outline map calculation unit that calculates an outline map of an unworked area within the planned work area from the vehicle position data acquired by the vehicle position detection module when driving around the periphery of the planned work area, and a route calculation unit that calculates a target driving route for driving through the unworked area based on the outline map calculated by the unworked area outline map calculation unit.

[0004] Japanese Patent Publication No. 2017-55673

[0005] In Patent Document 1, an outline map of the unworked area is calculated, and a target travel route is created on the calculated outline map. However, with the technology disclosed in Patent Document 1, if the field is covered with ridges, crops, etc., and there are areas where the work machine cannot travel (no travel lines), the traveling device of the traveling vehicle may enter the no travel lines, making it impossible to create a desirable target travel route.

[0006] The present invention has been made to solve the problems of the prior art, and has an object to provide a work machine that can travel along an appropriate path (travel route) regardless of the state of the field.

[0007] a first acquisition unit that acquires a plurality of no-travel lines extending from one end of the field to the other end and formed at first intervals; and a route creation unit that creates a first route that extends from the one end of the field to the other end and includes a plurality of first portions along which the vehicle travels, based on the plurality of no-travel lines acquired by the first acquisition unit, wherein the traveling units are positioned at a length corresponding to the first interval, and the route creation unit also includes a line definition unit that defines, based on the plurality of no-travel lines acquired by the first acquisition unit, areas of the field other than the plurality of no-travel lines as a plurality of drivable lines; and a setting unit that sets, based on the plurality of drivable lines defined by the line definition unit, paths that extend from the one end of the field to the other end and along which the traveling unit travels on the plurality of drivable lines, as the plurality of first portions.

[0008] The traveling device includes a first traveling unit provided on the vehicle body, and a second traveling unit provided on the vehicle body away from the first traveling unit so as to be positioned on another traveling line when the first traveling unit is positioned on one traveling line, and the setting unit may extract two traveling lines from the plurality of traveling lines, and set each of the plurality of first parts based on the two extracted traveling lines.

[0009] The work machine may be provided with a second acquisition unit that acquires a second interval, which is the working width of the first work device, and the setting unit may set the plurality of first portions based on the second interval acquired by the second acquisition unit so that the interval between two adjacent straight sections is substantially the same as the second interval.

[0010] The first acquisition unit may acquire, as the multiple no-travel lines, multiple work lines along which work has been performed at the first interval from one end of the field to the other end, or from the other end to the one end.

[0011] The multiple work lines that the first acquisition unit acquires as the multiple non-travelable lines may be ridge lines where ridge formation work has been performed, or crop lines where crop seeds have been sown or crops have been planted.

[0012] The work machine may include a route acquisition unit that acquires a second route along which the vehicle body performs work in the field; a second work device that is attachable to the vehicle body and that performs a second work that precedes a first work that is performed by the first work device; and a coupling device that couples either the first work device or the second work device to the vehicle body, wherein the second work device is capable of performing work at the first intervals; the route acquisition unit acquires, as the second route, a plurality of second sections that extend from one end of the field to the other end of the field along which the vehicle body coupled to the second work device travels; the plurality of non-travelable lines are a plurality of work lines that are formed at the first intervals as the vehicle body travels through the plurality of second sections and the second work device performs a second work from the one end of the field to the other end, or from the other end to the one end; and the setting unit may set the plurality of first sections by shifting the second route acquired by the route acquisition unit, based on the plurality of travelable lines defined by the line definition unit.

[0013] The work machine may be equipped with a position detection device that detects the position of the vehicle body, and a display device that displays the position of the vehicle body detected by the position detection device and the first route created by the route creation unit.

[0014] The work machine may be equipped with a position detection device that detects the position of the vehicle body, and an automatic steering control unit that controls the steering of the traveling device based on the position of the vehicle body detected by the position detection device and the first route created by the route creation unit.

[0015] The work machine may be equipped with a position detection device that detects the position of the vehicle body, and an automatic driving control unit that controls the steering and vehicle speed of the driving device based on the position of the vehicle body detected by the position detection device and the first route created by the route creation unit.

[0016] The above-described work machine can travel along an appropriate route regardless of the state of the field.

[0017] 1 is a diagram showing a block diagram of a work machine. FIG. 2 is a diagram showing a lifting device. FIG. 3 is a diagram showing an example of a field registration screen. FIG. 4 is a diagram showing how to determine the outline of a field from positioning points. FIG. 5 is a diagram showing how to determine the outline of a field from inflection points. FIG. 6 is a diagram showing how to determine the outline of a field from the edge of the field. FIG. 7 is a diagram showing how a travel route and unit work section are created. FIG. 8 is a diagram explaining a unit work section. FIG. 9 is a diagram showing a unit work section different from FIG. 6. FIG. 10 is a diagram showing the relationship between a first type of device, a work line, and a unit work section. FIG. 11 is a diagram showing the relationship between a second type of device, a work line, and a unit work section. FIG. 12 is a diagram showing the relationship between a third type of device, a work line, and a unit work section. FIG. 13 is a diagram showing a ridge forming device as an example of a first type of device. FIG. 14 is a diagram showing a seed sowing and spraying device as an example of a first type of device. FIG. 15 is a diagram showing a pesticide spraying device as an example of a second type of device. FIG. 16 is a diagram showing a tilling device as an example of a third type of device. FIG. 17 is a plan view showing the positional relationship between a no-travel line, a travelable line, and a work machine. FIG. 18 is a first diagram explaining the case in which a first work and a second work are performed by traveling along a second route in the prior art. FIG. 2 is a second diagram illustrating a case in which a first task and a second task are performed while traveling along a second route in the prior art. FIG. 3 is a third diagram illustrating a case in which a first task and a second task are performed while traveling along a second route in the prior art. FIG. 4 is a fourth diagram illustrating a case in which a first task and a second task are performed while traveling along a second route in the prior art. A diagram illustrating an example of a selection screen. A first diagram illustrating a second route and a drivable line. A second diagram illustrating a second route and a drivable line. A diagram illustrating setting of a first portion by a setting unit. A diagram illustrating a series of steps by which a route creation unit creates a first route. A diagram illustrating a series of steps by which a route creation unit creates a first route. A diagram illustrating an example of a second task input screen. A diagram illustrating an example of a first task input screen. A diagram illustrating an example of a route display screen. A diagram illustrating a block diagram of a work machine in a first modified example. A diagram illustrating automatic steering in the first modified example. A diagram illustrating a block diagram of a work machine in a second modified example. A side view of the work machine. A front view of the work machine.

[0018] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0019] FIG. 22 is a side view showing one embodiment of the work machine 1, and FIG. 23 is a front view showing one embodiment of the work machine 1. In this embodiment, the work machine 1 is a tractor equipped with a work implement 60. Note that the work machine 1 is not limited to a tractor and may also be a rice transplanter or a combine harvester. For convenience of explanation, the following description will be given using an example in which the work machine 1 is a tractor equipped with a work implement 60. Furthermore, the front side (the direction of arrow A1 in FIG. 22 ) of the operator (driver) seated in the driver's seat 7 of the work machine 1 will be referred to as the front, the rear side of the operator (the direction of arrow A2 in FIG. 22 ) as the rear, the left side of the operator as the left side (the direction of arrow A3 in FIG. 23 ), and the right side of the operator as the right side (the direction of arrow A4 in FIG. 23 ). Furthermore, the horizontal direction, which is perpendicular to the fore-and-aft direction of the work machine 1, will be referred to as the width direction.

[0020] The work machine 1 includes a vehicle body 2, a prime mover 8, a first hydraulic pump 9, a transmission 11, and a coupling device 30. As shown in Fig. 22, the vehicle body 2 has a traveling device 4 and is capable of traveling. The traveling device 4 is a device having front wheels 4A and rear wheels 4B. The front wheels 4A and rear wheels 4B are arranged with a gap between them in the fore-and-aft direction. Also, as shown in Fig. 23, in this embodiment, the front wheels 4A and rear wheels 4B are provided in pairs, each spaced apart in the width direction of the vehicle body 2.

[0021] In other words, the traveling device 4 is composed of a pair of front wheels 4A and a pair of rear wheels 4B, a total of four wheels, and includes a first traveling section 4L (in this embodiment, the left front wheel 4A and rear wheel 4B) arranged on one side (left side) in the width direction of the vehicle body 2, and a second traveling section 4R (in this embodiment, the right front wheel 4A and rear wheel 4B) arranged a predetermined distance from the first traveling section 4L on the other side (right side) in the width direction of the vehicle body 2, and the first traveling section 4L and the second traveling section 4R are provided on the vehicle body 2 so as to be spaced apart in the width direction. Note that the traveling device 4 does not have to be composed of four wheels as in this embodiment, and may be, for example, three wheels.

[0022] As shown in FIG. 1 , the front wheels 4A are connected by arms (knuckle arms) 5 that change the direction of the front wheels 4A. The vehicle body 2 can travel straight by moving the vehicle body 2 straight, and can turn by turning the vehicle body 2, by changing the direction of the front wheels 4A using the knuckle arms 5. Note that the vehicle body 2 may be configured to travel straight and turn by changing the rotation speed of one side (left side) of the front wheels 4A and the other side (right side) of the rear wheels 4B instead of or in addition to the above configuration. The front wheels 4A and the rear wheels 4B may be tire-type or crawler-type. The vehicle body 2 is provided with a PTO shaft 6 that outputs power from a prime mover 8 to the outside, and a driver's seat 7 where an operator sits.

[0023] The prime mover 8 is a diesel engine, an electric motor, or the like, and in this embodiment is configured as a diesel engine. The transmission 11 is capable of switching the propulsive force of the traveling device 4 by changing gears, and is also capable of switching the traveling device 4 between forward and reverse. The first hydraulic pump 9 is provided on the vehicle body 2 and is a device that discharges hydraulic oil. The first hydraulic pump 9 is connected to the prime mover 8, for example, and discharges hydraulic oil using the power output by the prime mover 8.

[0024] The coupling device 30 is provided to the vehicle body 2 so as to be able to swing freely, and couples the working device 60. Specifically, the coupling device 30 is provided at the rear of the vehicle body 2. The coupling device 30 can be swung by a first hydraulic device 31 that is driven by hydraulic oil discharged from a first hydraulic pump 9. The working device 60 can be attached and detached to the rear of the coupling device 30. By coupling the working device 60 to the coupling device 30, the working device 60 can be towed by the vehicle body 2.

[0025] The working device 60 is a device that can be attached to the vehicle body 2, and when the working implement 1 is a tractor, the working device 60 is connected to the vehicle body 2 via the coupling device 30. The working device 60 may be operated by power input from an external source, for example, power input from the PTO shaft 6, or may have a hydraulic device (not shown) that is driven by hydraulic oil discharged from the first hydraulic pump 9 and be operated by the hydraulic device. The working devices 60 include a tilling device 90 that tills, a ridge forming device 71 that forms ridges, a fertilizer spreading device that spreads fertilizer, a pesticide spreading device 85 that spreads pesticides for pest control, a seed sowing device 75 that sows seeds, a transplanter that plants crops (seedlings), a harvesting device that harvests crops, a reaping device that cuts grass or the like, a spreading device that spreads grass or the like, a grass collecting device that collects grass or the like, a shaping device that shapes grass or the like, and the like. That is, the coupling device 30 can select from various types of working devices 60 as described above and couple them to the vehicle body 2 .

[0026] 23, the following description will be given taking as an example a case where the widthwise center of the working device 60 and the widthwise center of the working machine 1 coincide in the width direction, excluding a case where the widthwise center of the working device 60 and the widthwise center of the working machine 1 are misaligned (offset) in the width direction. However, the present invention can also be applied to a case where the widthwise center of the working device 60 and the widthwise center of the working machine 1 are misaligned (offset) in the width direction, and can be applied by appropriately changing the position of the working machine 1 (vehicle body position VP) in the processing of the control device 40, etc., which will be described later.

[0027] The transmission 11 will be described in detail below. As shown in FIG. 1 , the transmission 11 includes a main shaft (propeller shaft) 11a, a main transmission section 11b, an auxiliary transmission section 11c, a shuttle section 11d, a PTO power transmission section 11e, and a front transmission section 11f. The propeller shaft 11a is rotatably supported in a housing case (transmission case) of the transmission 11, and power is transmitted to the propeller shaft 11a from the crankshaft of the prime mover 8. The main transmission section 11b has multiple gears and a shifter that changes the connection of the gears. The main transmission section 11b changes and outputs (shifts) the rotation input from the propeller shaft 11a by appropriately changing the connection (mesh) of the multiple gears using the shifter.

[0028] Similar to the main transmission unit 11b, the sub-transmission unit 11c has a plurality of gears and a shifter for changing the connection of the plurality of gears. The sub-transmission unit 11c changes and outputs (shifts) the rotation input from the main transmission unit 11b by appropriately changing the connection (meshing) of the plurality of gears using the shifter.

[0029] The shuttle unit 11d has a shuttle shaft 12 and a forward / reverse switching unit 13. Power output from the sub-transmission unit 11c is transmitted to the shuttle shaft 12 via gears or the like. The forward / reverse switching unit 13 is formed, for example, by a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, i.e., the forward and reverse movement of the work machine 1, by engaging and disengaging the hydraulic clutch. The shuttle shaft 12 is connected to a rear wheel differential device 17R. The rear wheel differential device 17R rotatably supports a rear axle 18R to which the rear wheels 4B are attached.

[0030] The PTO power transmission unit 11e has a PTO propeller shaft 14 and a PTO clutch 15. The PTO propeller shaft 14 is rotatably supported and can transmit power from the propeller shaft 11a. The PTO propeller shaft 14 is connected to the PTO shaft 6 via gears or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch, and by engaging and disengaging the hydraulic clutch, the state switches between transmitting the power of the propeller shaft 11a to the PTO propeller shaft 14 and not transmitting the power of the propeller shaft 11a to the PTO propeller shaft 14.

[0031] The front transmission unit 11f has a first clutch 16A and a second clutch 16B. The first clutch 16A and the second clutch 16B can transmit power from the propeller shaft 11a, for example, power from the shuttle shaft 12 is transmitted via gears and a transmission shaft. The power from the first clutch 16A and the second clutch 16B can be transmitted to the front axle 18F via a front transmission shaft 19. Specifically, the front transmission shaft 19 is connected to a front wheel differential device 17F, and the front wheel differential device 17F rotatably supports the front axle 18F to which the front wheels 4A are attached.

[0032] The first clutch 16A and the second clutch 16B are configured by hydraulic clutches or the like. An oil line is connected to the first clutch 16A, and the oil line is connected to a first operating valve 25a to which hydraulic oil discharged from the first hydraulic pump 9 is supplied. The first clutch 16A is switched between an engaged state and a disengaged state depending on the opening degree of the first operating valve 25a. An oil line is connected to the second clutch 16B, and the oil line is connected to a second operating valve 25b. The second clutch 16B is switched between an engaged state and a disengaged state depending on the opening degree of the second operating valve 25b. The first operating valve 25a and the second operating valve 25b are, for example, two-position switching valves with solenoid valves, and are switched between the engaged state and the disengaged state by energizing or deenergizing the solenoids of the solenoid valves.

[0033] When the first clutch 16A is disengaged and the second clutch 16B is engaged, the power of the shuttle shaft 12 is transmitted to the front wheels 4A via the second clutch 16B. As a result, the front wheels 4A and rear wheels 4B are driven by power, resulting in four-wheel drive (4WD), and the rotational speeds of the front wheels 4A and rear wheels 4B are approximately the same (4WD constant speed state). On the other hand, when the first clutch 16A is engaged and the second clutch 16B is disengaged, the vehicle is in four-wheel drive, and the rotational speed of the front wheels 4A is faster than the rotational speed of the rear wheels 4B (4WD acceleration state). Furthermore, when the first clutch 16A and the second clutch 16B are engaged, the power of the shuttle shaft 12 is not transmitted to the front wheels 4A, resulting in two-wheel drive (2WD), where the rear wheels 4B are driven by power.

[0034] As shown in Figure 1, the work machine 1 has an operating device 20 for operating the work machine 1. The operating device 20 is provided around the driver's seat 7 and is capable of operating the prime mover 8, the transmission 11, the traveling device 4, etc. The operating device 20 includes, for example, a first operating lever 21, a second operating lever 22, and a steering device 23, and the first operating lever 21 and the second operating lever 22 can be grasped and tilted by an operator. The first operating lever 21 is a device that can operate the raising and lowering of the coupling device 30, and the second operating lever 22 is a device that can operate the work machine 60 coupled to the coupling device 30.

[0035] The steering device 23 is a device capable of manual steering that steers the vehicle body 2 by operation by an operator, and allows the vehicle body 2 to travel straight and turn. As shown in FIG. 22 , the steering device 23 is provided in front of the driver's seat 7. The steering device 23 has a steering handle (steering wheel) 23a and a steering shaft (rotation shaft) 23b that rotatably supports the steering handle 23a. The steering device 23 also has an assist mechanism (power steering device) 35. The assist mechanism 35 assists the rotation of the steering shaft 23b (steering handle 23a) by hydraulic pressure or the like. The assist mechanism 35 includes a second hydraulic pump 36a, an auxiliary control valve 36b to which hydraulic oil discharged from the second hydraulic pump 36a is supplied, and a steering cylinder 36c operated by the auxiliary control valve 36b. The auxiliary control valve 36b is a three-position switching valve that can be switched by moving a spool or the like, and switches according to the steering direction (rotation direction) of the steering shaft 23b. The steering cylinder 36c is connected to the arm 5 that changes the direction of the front wheels 4A.

[0036] Therefore, when an operator grips and operates the steering handle 23a, the switching position and opening of the auxiliary control valve 36b are switched in accordance with the direction of rotation of the steering handle 23a, and the steering cylinder 36c extends or contracts to the left or right according to the switching position and opening of the auxiliary control valve 36b, thereby changing the steering direction of the front wheels 4A. In other words, the traveling direction of the vehicle body 2 can be changed to the left or right by manually steering the steering handle 23a.

[0037] 2, the connecting device 30 includes a lift arm 30a, a lower link 30b, a top link 30c, and a lift rod 30d. The front end of the lift arm 30a is supported on the upper rear part of a case (transmission case) that houses the transmission 11 so as to be able to swing upward or downward.

[0038] The front end of the lower link 30b is supported on the rear lower part of the transmission 11 so as to be able to swing upward or downward. The front end of the top link 30c is supported on the rear part of the transmission 11 above the lower link 30b so as to be able to swing upward or downward. The lift rod 30d connects the lift arm 30a and the lower link 30b. A working device 60 is connected to the rear part of the lower link 30b and the rear part of the top link 30c.

[0039] As shown in Fig. 1, the work machine 1 includes a control device 40 and a storage unit 41. The control device 40 is a device configured from electric and electronic circuits, programs stored in a CPU, etc. The control device 40 controls various devices included in the work machine 1. Specifically, the control device 40 is capable of controlling the first hydraulic device 31, and changing the output of the work device 60 and the first hydraulic pump 9. The storage unit 41 is a non-volatile memory or the like, and stores various information related to the control of the control device 40.

[0040] As shown in FIG. 1 , the work machine 1 is equipped with a position detection device (positioning device) 50. The position detection device 50 can detect its own position (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, or Michibiki. That is, the position detection device 50 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellites, and detects the position (e.g., latitude and longitude) of the work machine 1, i.e., the vehicle position VP, based on the satellite signals. The position detection device 50 includes a receiving device 51 and an inertial measurement unit (IMU) 52. The receiving device 51 has an antenna and the like and is a device that receives satellite signals transmitted from the positioning satellites, and is attached to the work machine 1 separately from the inertial measurement unit 52. 22 and 23, in this embodiment, the receiving device 51 is attached to the top of the ROPS 10 provided on the vehicle body 2. The attachment position of the receiving device 51 is not limited to the above position, and it may be in the center of the hood, or, if the vehicle body 2 is provided with a protection mechanism such as a cabin, it may be above the protection mechanism.

[0041] The inertial measurement unit 52 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, etc. The inertial measurement unit 52 is provided on the work machine 1, for example, below the driver's seat 7, and can detect the roll angle, pitch angle, yaw angle, etc. of the work machine 1.

[0042] As shown in FIG. 1 , the work machine 1 is equipped with a display device 55. The display device 55 is a driving assistance device provided, for example, near the driver's seat 7. The display device 55 is equipped with a display unit 56, a display control unit 57, and a display storage unit 58. The display unit 56 is configured with a liquid crystal panel, a touch panel, or other panel, and is capable of displaying information for assisting the driving of the work machine 1, such as a field F indicating a field G. The display unit 56 is capable of displaying various information related to the work machine 1 and the work device 60, in addition to information for assisting the driving of the work machine 1.

[0043] The display control unit 57 is composed of electric and electronic components provided in the display device 55, a program stored in a display storage unit 58 (described later), etc. The display control unit 57 causes the display unit 56 to display a screen that visualizes the information stored in the display storage unit 58.

[0044] The display storage unit 58 is composed of non-volatile memory or the like, and stores various information related to the work machine 1 and the work device 60. The display device 55 is also communicably connected to devices of the work machine 1 via wire or wirelessly, and can send and receive information to and from them. Specifically, for example, the display control unit 57 of the display device 55 and the control device 40 of the work machine 1 are communicably connected to each other.

[0045] In the above-described embodiment, the display device 55 is a driving assistance device provided near the driver's seat 7, but the display device 55 only needs to include a display unit 56, a display control unit 57, and a display memory unit 58, and may be a computer such as a personal computer (PC), a smartphone (multi-function mobile phone), or a tablet.

[0046] 1 , the work machine 1 includes a position acquisition unit 57a, a field registration unit 57b, and a field acquisition unit 57c. In the present embodiment, the position acquisition unit 57a, the field registration unit 57b, and the field acquisition unit 57c are configured by electric and electronic components, a program incorporated in the display device 55, and the position acquisition unit 57a, the field registration unit 57b, and the field acquisition unit 57c are shared by the display control unit 57 of the display device 55. Note that in the present embodiment, the position acquisition unit 57a, the field registration unit 57b, and the field acquisition unit 57c are shared by the display control unit 57 of the display device 55, but the position acquisition unit 57a, the field registration unit 57b, and the field acquisition unit 57c may be included in the control device 40, etc., and the configuration thereof is not limited to the above configuration.

[0047] The position acquisition unit 57a acquires multiple positioning points when the work implement 1 travels around the field G. Specifically, in this embodiment, the position acquisition unit 57a acquires the position of the work implement 1 (vehicle body position VP) detected by the position detection device 50 as multiple positioning points VP. Note that the position acquisition unit 57a only needs to be able to acquire multiple positioning points, and may be configured to connect a storage device, such as a memory, that stores position information of the multiple positioning points in advance to the display device 55 and acquire the position information of the multiple positioning points from the storage device, and the acquisition method is not limited to the method described above.

[0048] The field registration unit 57b registers the contour H1 of a predetermined field G, for example, a position corresponding to the contour H1 of the predetermined field G, as a field F to be displayed on the display unit 56. When the operator performs a predetermined operation on the display unit 55, the display control unit 57 causes the display unit 56 to display a field registration screen D1, as shown in FIG. 3 . The field registration screen D1 displays a field display section 100 showing the field F including the field G and the vehicle position VP of the work implement 1, and a first information display section 101 showing field identification information such as the name of the field G (field name) and the field management number. In addition to image data showing the field G, position information such as latitude and longitude is associated with the field F. When the operator performs a predetermined operation on the display unit 55, the display control unit 57 causes the display unit 56 to display the field registration screen D1. When the display unit 56 displays the field registration screen D1, the worker operates the work machine 1 to move the work machine 1 around within the field G. The position acquisition unit 57a acquires the vehicle body position VP detected by the position detection device 50 at a predetermined interval, records the vehicle body position VP in the display memory unit 58 as needed, and displays the vehicle body position VP on the field display unit 100 as needed (for convenience, only some of the vehicle body positions VP are displayed in FIG. 3 ).

[0049] When the work implement 1 has finished circling the field G and the worker selects the registration button 102, the field registration unit 57b calculates a travel trajectory T1 of the work implement 1 based on the multiple recorded vehicle body positions VP. Also, as shown in Fig. 4A , the display control unit 57 displays the travel trajectory T1 on the field F of the field display unit 100. In the example of Fig. 4A , the line T1 that passes through multiple vehicle body positions VP in detection order (acquisition order) and then returns to the first detected position VP is used as the travel trajectory of the work implement 1.

[0050] The vehicle position VP is the GPS position of the position detection device 50, and the travel trajectory T1 is the trajectory along which the GPS position moves. Therefore, the field registration unit 57b offsets the travel trajectory T1 outward by an amount equivalent to the widthwise distance from the GPS position of the work implement 1 to the outer edge of the rotation of the work implement 60 (in FIG. 4A , the work implement 1 is rotating clockwise around the field G, so this is the left edge of the work implement 60), and forms a line H1 between the travel trajectory T1 and the outline line of the field F. In this embodiment, the GPS position of the position detection device 50 is at the center of the work implement 1, and the widthwise center of the work implement 1 coincides with the widthwise center of the work implement 60. Therefore, the offset amount is set to half the outer width (widthwise length) of the work implement 60 or half the working width W of the work implement 60 (widthwise length of the range over which the work implement 60 exerts some action on the field G). As another example, a line H1 may be formed between the travel trajectory T1 and the outline line of the field F by setting the offset amount to a value that is a predetermined smaller or larger than the widthwise distance from the GPS position of the work machine 1 to the outer end of the rotation of the work device 60.

[0051] The field registration unit 57b sets the line H1 formed as described above as the outline (outline) of the field G, and registers (stores) the field F represented by the outline H1 in the display storage unit 58. At this time, the field registration unit 57b also registers field identification information such as the name of the field G (field name) and the field management number in association with the field F in the display storage unit 58. Multiple fields F can be registered in the display storage unit 58, and when the field registration unit 57b registers a field F, the display control unit 57 displays the field F (the outline H1 of the field G).

[0052] The above-described method of registering the field G (field F) is one example, and is not intended to be limiting. As another example, the field registration unit 57b may calculate an inflection point from the travel trajectory T1 of the work implement 1 and form a line K1 that passes through the inflection point, as shown in FIG. 4B . Then, the line K1 may be offset outward by the offset amount described above to form a line H2 between the travel trajectory T1 and the outline line of the field F. The line H2 may then be used as the outline K2 of the field G and the field F, and the field F may then be registered in the display storage unit 58.

[0053] 4C , the operator may operate a predetermined switch or the like to specify the edge of the field G as the work implement 1 moves around. In this case, the field registration unit 57b forms a line K2 that passes through each edge of the field G in the specified order and then returns to the edge that was initially specified. The line K2 may then be offset outward by the offset amount described above to form a line H3 between the travel locus T1 and the outline line of the field F. The line H3 may then be used as the outline K4 of the field G and the field F, and the field F may then be registered in the display storage unit 58.

[0054] Furthermore, the contours H1, H2, H3 of the field G and the field F may be data expressed, for example, by position (latitude, longitude), by a coordinate system (X-axis, Y-axis), or by other means.

[0055] As described above, the display device 55 can use the field registration unit 57b to register multiple fields F. The field acquisition unit 57c acquires a field F that indicates a specific field G from the multiple fields F when performing work or the like.

[0056] 1, the work machine 1 is equipped with a route creation unit 57d that creates a travel route L along which the vehicle body 2 will travel. In this embodiment, the route creation unit 57d is made up of electric and electronic components, a program incorporated in the display device 55, and the display control unit 57 of the display device 55 also functions as the route creation unit 57d. Note that in this embodiment, the display control unit 57 of the display device 55 also functions as the route creation unit 57d, but the route creation unit 57d may be included in the control device 40, etc., and the configuration of the route creation unit 57d is not limited to the above configuration.

[0057] The route creation unit 57d has a first creation unit 57d1, and the first creation unit 57d1 can, for example, refer to a field F registered in the display storage unit 58 and create a travel route L for the work implement 1 on the field F as shown in Fig. 5. The travel route L is a route along which the work implement 1 travels, and the work implement 1 travels such that the vehicle body position VP moves along the travel route L. The first creation unit 57d1 creates the travel route L on the field F based on the working width W, etc.

[0058] Specifically, for example, as shown in FIG. 6 , the first creation unit 57d1 creates a plurality of unit work sections E on the field F in which work will be performed by the work device 60 by dividing the field G on the field F vertically or horizontally by the work width W. The first creation unit 57d1 creates a plurality of unit work sections E on the field F in which work will be performed by the work device 60 by dividing the field G on the field F vertically or horizontally by the work width W. In other words, the first creation unit 57d1 creates a plurality of unit work sections E on the field F, each having the same width as the work width W. The unit work sections E extend from one end of the field G to the other end (first direction B1). Note that in the following description, the direction perpendicular to the first direction B1 may be referred to as the second direction B2.

[0059] 7, the first creation unit 57d1 may create multiple unit work sections E in the field F, each having a width (actual work width) W2 obtained by subtracting the overlap width Wl from the work width W. The overlap width Wl can be input onto the screen displayed on the display unit 56 by operating the display device 55. In other words, the first creation unit 57d1 sets, as the unit work section E, an area in which work is performed in the field G by the work device 60 when the work implement 1 coupled to the work implement 60 is traveled.

[0060] As shown in Figure 5, the first creation unit 57d1 creates a demarcation line La along which the work machine 1 moves in a straight line for each unit work section E in the field F. That is, the first creation unit 57d1 creates a substantially straight demarcation line La connecting both longitudinal ends of the unit work section E, for example, at the center of the width of the unit work section E. In other words, the demarcation line La extends in the first direction B1. The first creation unit 57d1 also creates a turning section Lb along which the work machine 1 turns. That is, the first creation unit 57d1 creates the turning section Lb by connecting the ends of adjacent demarcation lines La in an arc shape.

[0061] In the above-described embodiment, the unit task section E is formed in a generally rectangular shape extending in the first direction B1, and the unit task section E may be formed to have the same width as the task width W and extend in the first direction B1, and may be formed in a relatively gently curved or zigzag shape. That is, the section line La is also formed in a straight line extending in the first direction B1, but it may be formed in a relatively gently curved or zigzag shape as long as it is a line connecting both longitudinal ends of the unit task section E at the widthwise center of the unit task section E.

[0062] As described above, there are various types of working implements 60 depending on the type of work. Also, there are working implements 60 that perform work according to the positions of the ridges and crops in the field G, such as the ridge forming implement 71, fertilizer spreader, seed spreader 75, and transplanter, so that the positions of the ridges and crops correspond to each other, and working implements 60 that perform work over a relatively wide range regardless of the individual positions of the ridges or crops, such as the tilling implement 90 and pesticide spreader 85. Furthermore, even models that perform the same work may have different working widths W.

[0063] In the following explanation, work devices 60 that perform work by directly interfering with the soil of the field G, such as the ridge forming device 71 and the seed spraying device 75, to form ridges and perform sowing or planting work on each ridge, will be referred to as "type 1 device 61." Work devices 60 that do not perform work by directly interfering with the soil of the field G after ridge forming work and transplanting work have been completed, such as the pesticide spraying device 85 and fertilizer application device, will be referred to as "type 2 device 62." Work devices that perform work by directly interfering with the soil, regardless of the individual positions of the ridges or crops, such as the tilling device 90, will be referred to as "type 3 device 63."

[0064] As shown in FIG. 8A , the first type device 61 has one or more working units 61a. The working units 61a are structures that perform ground work in the field G when towed by the work implement 1, forming a work line R1 extending in the direction of travel of the work implement 1. In the following description, the width over which the working units 61a perform work will be referred to as the unit working width Wc. More specifically, the unit working width Wc may be a width that indicates the results of the work actually performed by the working unit 61a, or a width that indicates the desired work result among the results of the work actually performed by the working unit 61a. For example, when the ridge forming device 71 forms a ridge, the unit working width Wc may be the width of the ridge or the width of the top surface of the ridge (excluding the ridge base).

[0065] When the first type device 61 has multiple working units 61a, the multiple working units 61a are spaced apart in the width direction and arranged at equal intervals (every first interval x). Note that the first interval x may be a value that is fixed in advance for each first type device 61, or may be a value that is arbitrarily set by the worker depending on the series of work to be performed in the field G, and is set so that the interval between the working units 61a of one work device 60 and the interval between the working units 61a of another work device 60 match.

[0066] The multiple working units 61a are arranged so that the length from the center of one working unit 61a to the center of another working unit 61a adjacent to that one working unit 61a is a first interval x. Furthermore, the width across which a single working unit 61a performs work (unit working width Wc) is smaller than the first interval x (Wc<x).

[0067] In other words, when the work implement 1 travels along the travel route L as shown in Figure 5, the work lines R1 formed by the working unit 61a are formed as strip-shaped regions at equal intervals in the field G, as shown in Figure 8A. In this embodiment, the widthwise center of the work implement 1 coincides with the widthwise center of the work device 60, and the vehicle body position VP is located in the widthwise center of the work implement 1, so in the unit work section E, the work lines R1 are formed symmetrically in the width direction with respect to the travel route L.

[0068] When the first type device 61 has multiple working sections 61a, the work lines R1 are formed at a first interval x apart in a direction perpendicular to the longitudinal direction within the unit work section E. In other words, the first type device 61 forms an area where work is performed (work line R1) and an area where work is not performed (line R2) within the unit work section E, and the work line R1 is the smallest unit area smaller than the unit work section E formed within the field G. The width (first width) Wd of the work line R1 matches the size of the unit work width Wc.

[0069] The work line R1 is a ridge or the top surface of a ridge that will be damaged if the traveling device 4 comes into contact with it, or a crop that will be damaged. In other words, the work line R1 is a no-travel line R1 along which the traveling device 4 cannot travel. That is, the no-travel line R1 extends from one end of the field G to the other end (first direction B1), is formed in the second direction B2 at first intervals x, and is formed so as to be spaced apart at first intervals x. In this embodiment, the no-travel line R1 is formed in a substantially straight line, but it may also be formed in a relatively gently curved or zigzag shape. For convenience of explanation, the following description will focus on the case where the work line R1 is a ridge or a crop.

[0070] The lines R2 are formed adjacent to the multiple no-travel lines R1 and are in an area other than the work lines R1 in the unit work section E. Specifically, the multiple lines R2 are formed adjacent to both sides of the multiple no-travel lines R1 in the perpendicular direction (second direction B2). That is, as shown in FIGS. 13A and 13B , the multiple lines R2 include a line formed between the multiple no-travel lines R1 and two lines R2 adjacent to the outer sides of the lines R2 located at both ends. As shown in FIGS. 8A and 10 , the lines R2 extend from one end of the field G to the other end (first direction B1) and are formed at first intervals x in the second direction B2. In this embodiment, the lines R2 are formed in a substantially straight line, but they may also be formed in a relatively gently curved or zigzag shape.

[0071] As shown in FIGS. 8A and 10, the width (second width) We of the plurality of lines R2 is equal to the difference between the first interval x and the unit work width Wc (We=x−Wc).

[0072] 10 , the widthwise length (third width) Wf of the ground contact surface of the traveling device 4 and the tread width (fourth width) Wg are set so that when the first traveling portion 4L is positioned on one line R2, the second traveling portion 4R is positioned on another line R2. In other words, the line R2 is a travelable line R2 that is set so that, if the first traveling portion 4L and the second traveling portion 4R travel along the line R2 when the traveling device 4 travels, the first traveling portion 4L and the second traveling portion 4R will not come into contact with ridges, crops, etc. In addition, when the work line (non-traveling line) R1 is on the top surface of the ridge, the line R2 is a travelable line R2 that is set so that, if the first running section 4L and the second running section 4R run along the line R2 when the traveling device 4 is traveling, the first running section 4L and the second running section 4R will not come into contact with at least the top surface of the ridge, even if they may damage the bottom of the ridge.

[0073] First, the widthwise length (third width) Wf of the contact patch of the traveling device 4, i.e., in this embodiment, the tire width Wf of the front wheels 4A and rear wheels 4B, is set to be less than the widthwise length (second width) We of the drivable line R2 (Wf<We). Here, as shown in Figures 8A and 10, the second width We is equal to the difference between the first interval x and the unit working width Wc (We=x-Wc). In other words, the tire width Wf of the front wheels 4A and rear wheels 4B is set to be less than the difference between the first interval x and the unit working width Wc (Wf<We=x-Wc).

[0074] Next, the tread width (fourth width) Wg is the length from the widthwise center of the first running portion 4L to the widthwise center of the second running portion 4R. If the fourth width Wg is an appropriate length, the first running portion 4L and the second running portion 4R can be prevented from contacting ridges, crops, etc. Specifically, when the work implement 1 travels along the travel route L (dividing line La), if the number of work lines R1 located between the first running portion 4L and the second running portion 4R is k, the fourth width Wg is greater than the sum of the product of the first interval x and the natural number k-1, and the first width Wd and the third width Wf (Wg > x(k-1) + Wd + Wf). Also, the fourth width Wg is smaller than the difference between the product of the first interval x and the natural number k+1, and the third width Wf (Wg < x(k+1) - Wf).

[0075] Therefore, the separation width (Wg-Wf) between the first running portion 4L and the second running portion 4R is never smaller than the widthwise length (x(k-1)+Wd) of the work line R1 located between the first running portion 4L and the second running portion 4R, and the length (Wf+Wg) between the widthwise outer end of the first running portion 4L and the outer end of the second running portion 4R is never greater than the length (x(k+1)) between one work line R1 and the other work line R1 located to the side of the work implement 1. In other words, the traveling devices 4 are disposed apart by a length corresponding to the first distance x. As a result, if the first running portion 4L and the second running portion 4R travel along the line R2 when the traveling device 4 travels, the first running portion 4L and the second running portion 4R will not come into contact with the ridges, crops, etc.

[0076] The tread width (fourth width) Wg is preferably approximately an integer multiple of the first interval x. The worker adjusts the first width wd, the first interval x, the third width Wf, and the fourth width Wg so as to satisfy the above conditions, and can fine-tune the third width Wf and the fourth width Wg by, for example, replacing the running gear (in this embodiment, the front wheels 4A and the rear wheels 4B) and appropriately changing the second width We and the fourth width Wg.

[0077] Therefore, line R2 is a line along which the first running section 4L and the second running section 4R will not come into contact with ridges, crops, etc., if they run along line R2 when the running device 4 is running, i.e., a drivable line R2 along which the running device 4 can run.

[0078] 10 , when the work machine 1 travels along the travel route L (demarcation line La), the first travel unit 4L and the second travel unit 4R travel along travelable lines R2 that are on both sides of the vehicle body 1 in the width direction and that are located at a position that is 1 / 2 of the fourth width Wg from the demarcation line La in the perpendicular direction. In other words, the demarcation line La and the travelable lines R2 along which the first travel unit 4L and the second travel unit 4R travel correspond to the fourth width Wg. In other words, when one travelable line R2 is selected from among the multiple travelable lines R2, the travel route L (demarcation line La) and the travelable lines R2 can be defined based on the fourth width Wg when the first travelable line 4L or the second travelable line R2 travels along the travelable line R2. On the other hand, by selecting one of the multiple dividing lines La, a drivable line R2 along which the first running section 4L and the second running section 4R run when the work machine 1 runs along that one dividing line La can be defined based on the fourth width Wg.

[0079] For example, if the first type device 61 is a ridge forming device 71, the working unit 61a is a ridge former 72 that guides soil from the field G to form ridges. The ridge forming device 71 forms a ridge line Ra as a work line R1, and the width of the ridge line Ra (the width of the ridge, or the width of the top surface of the ridge) matches the unit work width Wc. If the first type device 61 is a seed spreading device 75, the working unit 61a is a seeding nozzle 76 and a pressure roller 77 that distribute seeds from a container 78 to the field G. The work line R1 is a crop line Rb along which crop seeds are sown, and the width of the crop line Rb matches the unit work width Wc. If the first type device 61 is a transplanter, the working unit 61a is a hopper that plants the crop. The work line R1 is a crop line Rb on which crops have been planted using a hopper, and the widthwise length of the crop line Rb is the same as the unit work width Wc.

[0080] For convenience of explanation, the following description will focus on the case where the first type device 61 has an even number of working units 61a. As described above, in this embodiment, for convenience of explanation, the description will be given taking as an example a case where the center of the width of the working device 60 coincides with the center of the width of the working machine 1, so that the centers of the two innermost working units 61a among the multiple working units 61a that the first type device 61 has coincide with the center of the working machine 1 in the width direction.

[0081] The following describes in detail the first type device 61, working unit 61a, and working line R1, etc., using the ridge forming device 71 shown in Figure 9A and the seed spreading device 75 shown in Figure 9B as examples. The ridge forming device 71 has a single or multiple ridge formers 72 as the working unit 61a, and in this embodiment, the ridge formers 72 are arranged in pairs in the width direction. More specifically, as shown in Figure 9A, the distance from the center of one ridge former 72 in the width direction to the center of the other ridge former 72 in the width direction is the first interval x. In other words, when the working device 60 is the ridge forming device 71, the first interval x is the "inter-ridge distance" between the center of one ridge and the center of another ridge adjacent to that one ridge.

[0082] 9A , each ridge former 72 has a top plate 72a, a first side plate 72b, and a second side plate 72c. The top plate 72a forms the upper portion of the ridge former 72 and is disposed so as to slope downward from the front to the rear. The first side plate 72b extends downward from one end (left end) of the top plate 72a in the width direction, and the second side plate 72c extends downward from the other end (right end) of the top plate 72a in the width direction, so that the ridge former 72 forms a generally trapezoidal shape in rear view.

[0083] In the example shown in Figure 9A, the ridge forming device 71 has a pair of ridge formers 72, and can form two rows of ridge lines Ra by being towed by the work machine 1. If the ridge forming device 71 has three ridge formers 72, it can form three rows of ridge lines Ra by being towed by the work machine 1, and if the ridge forming device 71 has four ridge formers 72, it can form four rows of ridge lines Ra by being towed by the work machine 1.

[0084] The ridge forming device 71 shown in Figure 9A has a rotary tilling unit 73 at the front of a ridge former 72, which forms ridges from the soil thrown rearward by the rotary tilling unit 73. The rotary tilling unit 73 has a tine shaft 73a and tilling tines 73b. The tine shaft 73a has a rotation axis extending in the width direction and is driven by power output from the PTO shaft 6 to perform tilling.

[0085] In the ridge forming device 71 shown in Figure 9A, the working width W is the length from one side (left end) in the width direction of the rotary tiller 73 to the other side (right end) in the width direction of the rotary tiller 73. Furthermore, if the ridge forming device 71 does not have a rotary tiller 73, the working width W is the length from the member arranged on one side (left end) in the width direction that guides soil to the ridge former 72 to the member arranged on the other side (right end) in the width direction that guides soil to the ridge former 72.

[0086] The seeding spraying device 75 has one or more seeding nozzles 76 as the working unit 61a, and in this embodiment, as shown in Fig. 9B, four seeding nozzles 76 are arranged in the width direction. Specifically, the distance from the center of one seeding nozzle 76 in the width direction to the center of the other seeding nozzle 76 adjacent to that one seeding nozzle 76 in the width direction is the first interval x, and the seeding nozzles 76 are arranged so that their centers in the width direction are located at every first interval x.

[0087] Further, the seeding spraying device 75 has a suppression roller 77, and the suppression roller 77 is arranged at a position corresponding to the seeding nozzle 76. In this embodiment, four suppression rollers 77 are arranged behind the seeding nozzle 76, spaced apart in the width direction. In detail, the distance from the center of one suppression roller 77 in the width direction to the center of the other suppression roller 77 adjacent to that suppression roller 77 is the first interval x, and the suppression rollers 77 are arranged so that their centers in the width direction are located at the first interval x. In this embodiment, the seeding nozzle 76 is described as the working unit 61a of the seeding spraying device 75, but the seeding nozzle 76 and the suppression roller 77 are arranged at corresponding positions, and each performs work on the field G, so the suppression roller 77 may also be the working unit 61a.

[0088] The seed spreading device 75 has a container 78 for storing seeds, a hose (not shown) connecting the container 78 and the seeding nozzle 76, and a feeder 79 that feeds the seeds from the container 78 via the hose. Therefore, seeds fed into the hose by driving the feeder 79 pass through the hose and are sown into the field G from the seeding nozzle 76, and the pressure roller 77 presses down at least the sown portion. Therefore, in the example shown in Figure 9B, the seed spreading device 75 has four seeding nozzles 76 and pressure rollers 77, and can form four rows of crop lines Rb by being towed by the work implement 1. In addition, when the seeding spraying device 75 has one seeding nozzle 76 and one pressure roller 77, it is towed by the work machine 1 to form one row of crop lines Rb, and when the seeding spraying device 75 has one pair of seeding nozzles 76 and one pair of pressure rollers 77, it is towed by the work machine 1 to form two rows of crop lines Rb.

[0089] In addition, in the seeding spraying device 75 shown in Figure 9B, the working width W is the sum of the length from the left end of the spraying range of the seeding nozzle 76 located on one side (left end) in the width direction to the right end of the spraying range of the seeding nozzle 76 located on the other side (right end) in the width direction and the second width We.

[0090] The second type device 62 is a work device 60 that does not directly interfere with the soil of a field G where ridge formation and transplanting have been completed, and, as shown in FIG. 8B , unlike the first type device 61, has a single work body 62a. The work body 62a is a structure that performs ground work on the field G when the second type device 62 is towed by the work implement 1, and forms a work area R3 extending in the direction of travel of the work implement 1. Here, the working width W of the second type device 62 and the widthwise length of the work area R3 are the same, and the work area R3 and the unit work section E are coincident. In other words, unlike the first type device 61, the second type device 62 does not define a work area (work line R1) and a non-work area within the unit work section E, but rather works in the entire area of ​​the unit work section E.

[0091] The second-type device 62 will be described below using the pesticide spraying device 85 shown in Figure 9C as an example. The pesticide spraying device 85 has multiple pesticide nozzles 86 arranged in the width direction as the working body 62a. The multiple pesticide nozzles 86 are arranged at intervals equal to or greater than the first interval x, and spraying work is performed over a relatively wide area within the unit work section E, regardless of the position of the ridges or crops, without forming a work area (work line R1) and a non-work area.

[0092] The pesticide spraying device 85 has a tank 87 that stores pesticide, a frame 88 that holds the tank 87, and a spray pump 89 that supplies the pesticide in the tank 87 to pesticide nozzles 86. The pesticide nozzles 86 are each attached at predetermined intervals to support members that protrude to the left or right from the rear of the frame 88. The frame 88 is formed into a frame shape by combining vertical and horizontal members. By driving the spray pump 89, the pesticide in the tank 87 is ejected from the pesticide nozzles 86, thereby spraying the pesticide, such as pesticide.

[0093] In the pesticide spraying device 85, the working width W is the length from the left end of the spraying range of the pesticide nozzle 86 located on one side (left end) of the width direction to the right end of the spraying range of the pesticide nozzle 86 located on the other side (right end) of the width direction, as shown in Figure 9C.

[0094] The Type 3 device 63 is a work device 60 that, like the tillage device 90, directly interacts with the soil to perform work, regardless of whether ridges or crop lines are present. As shown in FIG. 8C , like the Type 2 device 62, but unlike the Type 1 device 61, the Type 3 device 63 has a single working body 63a. The Type 2 device 62 is towed by the work implement 1, and the working body 63a performs ground work in the field G, forming a working area R4 extending in the direction of travel of the work implement 1. The working width W of the Type 3 device 63 and the widthwise length of the working area R4 are the same, and the working area R3 and the unit work section E are coincident. In other words, like the Type 2 device 62, but unlike the Type 1 device 61, the Type 3 device 63 does not separate a work area (work line R1) and a non-work area within the unit work section E, but performs work in the entire area of ​​the unit work section E.

[0095] The third-class device 63 will be described below using the cultivator 90 shown in Figure 9D as an example. The cultivator 90 has a tine shaft 91 and cultivator tines 92. The tine shaft 91 has a rotating shaft extending in the width direction and is driven by power output from the PTO shaft 6 to perform cultivating. The cultivator tines 92 are attached to the tine shaft 91 and rotate around the axis of the tine shaft 91 to perform plowing and soil breaking. The cultivator tines 92 are arranged from one side (left side) to the other side (right side) in the width direction of the tine shaft 91 and extend radially outward from the axis of the tine shaft 91.

[0096] In the tilling implement 90 shown in Figure 9D, the working width W is the length from one side (left end) of the tilling implement 90 in the width direction to the other side (right end) of the tilling implement 90 in the width direction.

[0097] Typically, when cultivating crops in a farm field G, work is performed using a plurality of different work implements 60 based on a work schedule for a certain period of time (for example, one year or several months). Hereinafter, work performed in the farm field G at any point in time (n, n = 1, 2, 3, ... n) within the certain period of time will be described as a first work Jn, and the work implement 60 connected to the work implement 1 when performing the first work Jn will be described as a first work implement 60A. Furthermore, work performed before the first work Jn will be described as a second work Jn-1, and the work implement 60 connected to the work implement 1 when performing the second work Jn-1 will be described as a second work implement 60B.

[0098] The working width W of the first work device 60A will be described as a first working width Wa, and the working width W of the second work device 60B will be described as a second working width Wb. Furthermore, when the first work device 60A is a first type device 61, the working unit 61a of the first work device 60A will be described as a first working unit 61a1. When the second work device 60B is a first type device 61, the working unit 61a of the second work device 60B will be described as a second working unit 61a2.

[0099] Taking the example of cultivating potatoes in field G, the first task Jn and the second task Jn-1 will be explained. The potato cultivation schedule is carried out in the following order: fertilization of field G J1, soil crushing J2, pest control J3, ridge making J4, planting J5, weeding J6, soil cultivation J7, sprout removal J8, top dressing J9, pest control J10, and harvesting J11 (note that the above flow is only an example, and may differ depending on the type and configuration of the work device 60 connected to the work machine 1, or the growth condition).

[0100] That is, if the first task Jn is ridge making J4 in a field G, the first task device 60A is the ridge forming device 71, and the second task Jn-1 is any or all of fertilization J1, soil harrowing J2, and pest control J3 in the field G. In such a case, the second task device 60B is the task device 60 corresponding to the second task Jn-1. For example, if the second task Jn-1 is fertilization J1, the second task device 60B is a fertilizer spreader. Also, if the first task Jn is harvesting J11, the first task device 60A is a harvesting device, and the second task Jn-1 is any or all of fertilization J1, soil harrowing J2, pest control J3, ridge making J4, planting J5, weeding J6, soil cultivation J7, sprout removal J8, top dressing J9, and pest control J10 performed in the field G. In other words, the first task Jn of the first work device 60A and the second task Jn-1 of the second work device 60B are directly and indirectly related to each other.

[0101] As described above, the spacing between the ridge former 72 of the ridge forming device 71, the spray nozzle of the fertilizer spraying device, the sowing nozzle 76 of the seed spraying device 75, and the hopper of the transplanter are generally matched in advance and set to an arbitrary spacing (first spacing x) so that the positions of the ridges and the crops correspond, and the widthwise length (second width) We of the contact surface of the traveling device 4 is set to correspond to the width (first width) Wd of the work line R1 and the first spacing x so that the traveling device 4 can travel across the work line R1.

[0102] However, if the first work device 60A and the second work device 60B have different numbers of working sections 61a arranged in the width direction, or if the working widths W are different, such as when the second work device 60B is the ridge forming device 71 shown in Figure 9A and the first work device 60A is the seed spreading device 75 shown in Figure 9B, and the work device 1 connected to the first work device 60A travels along the same route (reference route L2) as the work device 1 travels when performing the second work Jn-1 with the second work device 60B, and the first work device 60A performs the first work Jn, an unworked area (unworked area E1) or an area where work is being performed overlapping (overlapping work area E2) will be created when the first work Jn is performed, as shown in Figures 11A, 11B, 11C, and 11D. 11A to 11D, for ease of explanation, the area where only the first task Jn was performed, the area where only the second task Jn-1 was performed, and the area where both the first task Jn and the second task Jn-1 were performed are displayed with different meshes, and the unworked area E1 and the overlapping task area E2 are shown with thicker borders. Furthermore, the overlapping task area E2 is displayed with a finer mesh than the other areas.

[0103] Specifically, for example, if the first work device 60A is a first type device 61 with two first work units 61a1 and the second work device 60B is a first type device 61 with four second work units 61a2, and the number of first work units 61a1 is smaller than the number of second work units 61a2, then as shown in FIG. 11A, when the work machine 1 connected to the first work device 60A travels along the reference route L2 and the first work device 60A performs the first work Jn, an unworked area E1 will be created.

[0104] Furthermore, if the first work device 60A is a first-type device 61 and has four first working units 61a1, and the second work device 60B is a first-type device 61 and has two second working units 61a2, for example, and the number of first working units 61a1 exceeds the number of second working units 61a2, when the work machine 1 connected to the first work device 60A travels along the reference route L2 and the first work device 60A performs the first work Jn, an overlapping work area E2 will be created, as shown in Figure 11B. Furthermore, the first working unit 61a1 will perform work outside the work line R1 where the second working unit 61a2 performed work.

[0105] Furthermore, if the first work device 60A is a second type device 62, the second work device 60B is a first type device 61, and the first work width Wa is smaller than the second work width Wb, as shown in Figure 11C, when the work machine 1 connected to the first work device 60A travels along the reference route L2 and the first work device 60A performs the first work Jn, an unworked area E1 will be created.

[0106] Furthermore, if the first work device 60A is the second type device 62, the second work device 60B is the first type device 61, and the first work width Wa is larger than the second work width Wb, when the work implement 1 coupled with the first work device 60A travels along the reference route L2 and the first work device 60A performs the first work Jn, an overlapping work area E2 will be created, as shown in Figure 11D. Furthermore, the work body 62a will perform work outside the work line R1 where the second work unit 61a2 performed work.

[0107] Therefore, the route creation unit 57d has a second creation unit 57d2 instead of or in addition to the first creation unit 57d1 described above, and the second creation unit 57d2 is capable of creating a travel route L (first route L1) for the first task Jn based on the second task Jn-1. Specifically, the second creation unit 57d2 creates the travel route L for the first task Jn based on the travel route L for the second task Jn-1 and the second information of the second task device 60B. Hereinafter, for convenience of explanation, the travel route L (reference route L2) for the second task Jn-1 may be described as the second route L2, and the travel route L for the first task Jn may be described as the first route L1. In other words, the second route L2 is the route traveled by the vehicle body 2 to which the second task device 60B is coupled, i.e., the route for the second task, and the first route L1 is the route traveled by the vehicle body 2 to which the first task device 60A is coupled, i.e., the route for the first task. In this case, the demarcation line La of the first route L1 will be referred to as a first portion La1, and the demarcation line La of the second route L2 will be referred to as a second portion La2.

[0108] More specifically, the second creation unit 57d2 is capable of creating the first route L1 based on a plurality of no-travel lines R1 that extend from one end of the field G to the other end (first direction B1) and are formed at first intervals x. In this embodiment, the plurality of no-travel lines R1 are, for example, work lines R1 along which work has been performed from one end of the field G to the other end at first intervals x. The second creation unit 57d2 (route creation unit 57d) creates the first route L1 based on the plurality of no-travel lines R1 (work lines R1) that extend from one end of the field G to the other end (first direction B1) and are formed at first intervals x. In other words, the second creation unit 57d2 (route creation unit 57d) creates the first route L1 as a travel route L for performing the first task Jn, which limits the unworked area E1 and overlapping work area E2, based on the work of the previous process.

[0109] In this embodiment, the route creation unit 57d switches between creating a travel route L by the first creation unit 57d1 and creating a travel route L by the second creation unit 57d2, depending on the situation of the field G, i.e., the work schedule for a certain period of time and the creation status of the work plan. Specifically, when the worker performs any operation on the display device 55, the display control unit 57 displays a selection screen D2 on the display unit 56, as shown in FIG. 12 . The route creation unit 57d can switch between a “first mode” in which the first route L1 and the second route L2 are created together by the first creation unit 57d1 and the second creation unit 57d2, and a “second mode” in which only the second route L2 is created in the second creation mode with reference to the second work Jn-1. The selection screen D2 has a selection unit 105, and by operating the selection unit 105, a selection operation between the “first mode” and the “second mode” is accepted.

[0110] The creation of the first route L1 by the second creation unit 57d2 will be described in detail below.

[0111] 1 , the work machine 1 includes a first task acquisition unit 57e, a second task acquisition unit 57f, a route acquisition unit 57g, a first acquisition unit 57h, and a determination unit 57i. The first task acquisition unit 57e, the second task acquisition unit 57f, the route acquisition unit 57g, and the determination unit 57i are shared by the display control unit 57 of the display device 55. Note that in the present embodiment, the first task acquisition unit 57e, the second task acquisition unit 57f, the route acquisition unit 57g, and the determination unit 57i are shared by the display control unit 57 of the display device 55, but the first task acquisition unit 57e, the second task acquisition unit 57f, the route acquisition unit 57g, and the determination unit 57i may be included in the control device 40 or the like, and the configuration thereof is not limited to the above configuration.

[0112] The first task acquisition unit 57e acquires first information about the first task device 60A. The first information includes information specific to the first task device 60A and information about the first task Jn performed by the first task device 60A. Specifically, the first task acquisition unit 57e acquires, for example, the first task width (second interval) Wa and the number c1 of first task units 61a1 as the first information. Note that the first information acquired by the first task acquisition unit 57e is not limited to the first task width Wa and the number c1 of first task units 61a1. In addition to the first task width Wa and the number c1 of first task units 61a1, the first task acquisition unit 57e may acquire information such as the type of the first task device 60A, individual information, model name, unit task width Wc of the first task unit 61a1, first interval x, and the date and time of the first task. In this embodiment, first task acquisition unit 57e acquires, as first information, the type of first task device 60A, individual information, model name, size of unit task width Wc, and first interval x in addition to first task width Wa and number c1 of first task units 61a1. Note that, for convenience of explanation, hereinafter, the component of first task acquisition unit 57e that acquires first task width (second interval) Wa may be described as second acquisition unit 57e1.

[0113] The second task acquisition unit 57f acquires second information about the second task device 60B. The second information includes information specific to the second task device 60B and information about the second task Jn-1 performed by the second task device 60B. Specifically, the second task acquisition unit 57f acquires, for example, the second task width Wb and the number c2 of second task devices 61a2 as the second information. Note that the second information acquired by the second task acquisition unit 57f is not limited to the second task width Wb and the number c2 of second task devices 61a2. In addition to the second task width Wb and the number c2 of second task devices 61a2, the second task acquisition unit 57f may acquire information about the type of second task device 60B, individual task information, model name, unit task width Wc, first interval x, the date and time of the second task, and the like. In this embodiment, the second work acquisition unit 57f acquires, as second information, information on the type, individual information, model name, unit work width Wc, and first interval x of the second work device 60B in addition to the second work width Wb and the number c2 of second work units 61a2.

[0114] The route acquisition unit 57g acquires a second route L2. The route acquisition unit 57g acquires, as the second route L2, a travel route L corresponding to the second job Jn-1 from among the travel routes L created by the route creation unit 57d, or, if a travel route L corresponding to the second job Jn-1 is stored in a storage area of ​​the control device 40 or the like, acquires the travel route L from the storage area as the second route L2. In this embodiment, the route acquisition unit 57g acquires at least a plurality of second portions La2 from the second route L2. In this embodiment, the second route L2 acquired by the route acquisition unit 57g is the travel route L created by the first creation unit 57d1, but the second route L2 may also be a travel route L created by the second creation unit 57d2. Furthermore, the route acquisition unit 57g may acquire the second route L2 based on the vehicle position VP acquired by the position acquisition unit 57a. In such a case, the position detection device 50 detects the position of the work machine 1 when the work machine 1 performed the second work (vehicle body position VP), and the position acquisition unit 57a acquires the vehicle body position VP in association with time information when the position detection device 50 detected the vehicle body position VP. The route acquisition unit 57g, for example, connects the vehicle body positions VP acquired by the position acquisition unit 57a based on the time information, defines a second route L2, and acquires the defined second route L2.

[0115] The first acquisition unit 57h acquires the travel-prohibited line R1. Specifically, in this embodiment, the first acquisition unit 57h defines position information of the work line R1 based on the number c2 of second working units 61a2, the unit work width Wc, and the first interval x acquired by the second work acquisition unit 57f, and the second route L2 acquired by the route acquisition unit 57g, thereby acquiring data indicated by, for example, the position (latitude, longitude) of the travel-prohibited line R1 and data indicated in a coordinate system (X-axis, Y-axis). More specifically, the first acquisition unit 57h acquires data indicated by the position (latitude, longitude) of the work line R1 and data indicated in a coordinate system (X-axis, Y-axis) based on the second portion La2 acquired by the route acquisition unit 57g, the number c2 of second working units 61a2, the unit work width Wc, the first interval x, and the second portion La2 acquired by the second work acquisition unit 57f.

[0116] In the above-described embodiment, the first acquisition unit 57h defines the work line R1 based on the number c2 of the second work units 61a2, the unit work width Wc, and the first interval x acquired by the second work acquisition unit 57f, and the second route L2 acquired by the route acquisition unit 57g, and acquires the impassable line R1, but the acquisition method is not limited to the above-described method, and if the impassable line R1 (work line R1) is stored in advance in the display memory unit 58 or a memory area of ​​an external server or the like that can communicate directly or indirectly with the display device 55 or the control device 40, the impassable line R1 may be acquired from that memory area.

[0117] The determination unit 57i determines whether the second work device 60B is a first-type device 61, a second-type device 62, or a third-type device based on the second information acquired by the second work acquisition unit 57f. The determination unit 57i determines whether the second work device 60B is a first-type device 61, a second-type device 62, or a third-type device based on the type of the second work device 60B in the second information. In detail, the display storage unit 58 or a storage area of ​​an external server or the like that can communicate directly or indirectly with the display device 55 or the control device 40 stores a table indicating combinations of the type of work device 60 and whether the work device 60 is a first-type device 61, a second-type device 62, or a third-type device, and the determination unit 57i determines whether the second work device 60B is a first-type device 61, a second-type device 62, or a third-type device based on the second information and the table. Furthermore, when the second work acquisition unit 57f acquires as second information the type of the second work device 60B, which is either a first type device 61, a second type device 62, or a third type device, the judgment unit 57i judges whether the second work device 60B is a first type device 61, a second type device 62, or a third type device based on the type.

[0118] The determination unit 57i is only required to determine whether the second working device 60B is the first type device 61, the second type device 62, or the third type device, and the method of determination is not limited to the above-described method.

[0119] 1, the second creation unit 57d2 has a line definition unit 157a and a setting unit 157b. In other words, the route creation unit 57d has the line definition unit 157a and the setting unit 157b.

[0120] Based on the multiple impassable lines R1 acquired by the first acquisition unit 57h, the line definition unit 157a defines multiple drivable lines R2 that are areas of the field G other than the multiple impassable lines R1. Taking the case where the second work device 60B is the ridge forming device 71 shown in Fig. 9A as an example, the second work device 60B in Fig. 9A has two working units 61a. Therefore, as shown in Fig. 13A, when the work implement 1 makes five round trips from one end of the field G to the other end (first direction B1), that is, when the second route L2 has 10 demarcation lines La, 20 work lines R1 and 21 drivable lines R2 are formed.

[0121] Furthermore, taking the example of the second work device 60B being the seed spreading device 75 shown in Figure 9B, the second work device 60B in Figure 9B has four working parts 61a, so as shown in Figure 13B, when the work machine 1 makes two and a half round trips from one end of the field G to the other end (first direction B1), that is, when the second route L2 has five dividing lines La, 20 work lines R1 are formed and 21 drivable lines R2 are formed.

[0122] In this embodiment, the first acquisition unit 57h acquires the position information of multiple work lines R1 as multiple non-traveling lines R1, and the line definition unit 157a references the field F registered in the display storage unit 58 and acquires areas other than the work lines R1 based on the position information of the multiple work lines R1 and the field F. Therefore, the line definition unit 157a calculates the position information of areas other than the multiple work lines R1 in the field F based on the position information of the multiple work lines R1 and the field F, and defines multiple travelable lines R2.

[0123] Based on the multiple travelable lines R2 defined by the line definition unit 157a, the setting unit 157b sets, as a first portion La1, a route that extends from one end of the field G to the other end (in the first direction B1) and along which the travel device 4 travels on the multiple travelable lines R2. In other words, the setting unit 157d can set, in addition to the second portion La2, a route along which the travelable lines R2 other than the travelable lines R2 that correspond to the second portion La2 as candidates for the first portion La1. When setting the first portion La1, the setting unit 157b extracts a travelable line R2 from the multiple travelable lines R2, and sets the first portion La1 that corresponds to the extracted travelable line R2.

[0124] As described above, the travel route L (demarcation line La) and the travelable line R2 are related in such a way that selecting one travelable line R2 from among the multiple travelable lines R2 defines the travel route L (demarcation line La) along which the first travel unit 4L or the second travel unit 4R travels on that travelable line R2, and selecting the travel route L (demarcation line La) defines the travelable line R2 along which the first travel unit 4L and the second travel unit 4R travel when the work implement 1 travels on that travel route L (demarcation line La). For this reason, when setting the first portion La1, the setter 157b selects the second portion La2 acquired by the route acquisition unit 57g (in other words, extracts the travelable line R2 corresponding to the second portion La2), and shifts the second portion La2 to extract the travelable line R2 corresponding to the first portion La1 and set the first portion La1.

[0125] Specifically, the setting unit 157b (route creation unit 57d) shifts the multiple second portions La2 in a direction perpendicular to the multiple second portions La2 based on the first information acquired by the first task acquisition unit 57e and the second information acquired by the second task acquisition unit 57f. More specifically, the setting unit 157b (route creation unit 57d) shifts each of the multiple second portions La2 based on the difference between the first task width Wa acquired by the first task acquisition unit 57e and the second task width Wb acquired by the second task acquisition unit 57f. More specifically, the setting unit 157b (route creation unit 57d) shifts each of the multiple second portions La2 by an amount that is approximately a natural number multiple of half the difference between the first task width Wa acquired by the first task acquisition unit 57e and the second task width Wb acquired by the second task acquisition unit 57f.

[0126] The setting unit 157b shifts the second portions La2 in order (m=1, 2, 3, ... m) from the second portion La2 located at one end (right end) of the second direction B2 to the second portion La2 located at the other end (left end) of the second direction B2. In this embodiment, the shifting is performed in order from the second portion La2 on the right side of the page. Specifically, the setting unit 157b calculates the shift amount based on the following equation (1).

[0127]

[0128] Therefore, when the setting unit 157b shifts the plurality of second portions La2 by the shift amount calculated by the above calculation formula to set the plurality of first portions La1, the interval between two adjacent first portions La1 among the plurality of first portions La1 becomes substantially the same as the second interval Wa. That is, the setting unit 157b sets the plurality of first portions La1 based on the second interval Wa in the first information acquired by the second acquisition unit 57e1 so that the interval between two adjacent first portions La1 becomes substantially the same as the second interval Wa.

[0129] Here, when both the first work device 60A and the second work device 60B are type 1 devices 61, the first work width Wa and the second work width Wb are approximately equal to a natural number multiple of the first interval x, and therefore the setting unit 157b can calculate the shift amount based on the number c2 of the multiple second work units 61a2 acquired by the second work acquisition unit 57f and the number c1 of the multiple first work units 61a1 acquired by the first work acquisition unit 57e. Specifically, the setting unit 157b (route creation unit 57d) calculates the shift amount based on the difference between the number c1 of the first work units 61a1 and the number c2 of the second work units 61a2, and the first interval x. More specifically, the setting unit 157b (route creation unit 57d) calculates the shift amount based on the product of the difference between the number c1 of the first working units 61a1 and the number c2 of the second working units 61a2, the first interval x, and a natural number multiple of 1 / 2, based on the following formula (2):

[0130]

[0131] In other words, according to the above formula (2), when the number c1 of the first working units 61a1 and the number c2 of the second working units 61a2 are even numbers, that is, when the difference between the number c1 of the first working units 61a1 and the number c2 of the second working units 61a2 is a multiple of 2, the shift amount is an integer multiple of the first interval x.

[0132] The setting unit 157b calculates the shift amount based on one of the above calculation formulas and shifts the multiple second portions La2. Note that when the first working width Wa is larger than the second working width Wb (Wb<Wa), and when the number c1 of the first working units 61a1 is larger than the number c2 of the second working units 61a2 (c2<c1), that is, when the shift amount calculated using formulas (1) and (2) is a positive number, the setting unit 157b shifts the multiple second portions La2 from one end (right end) to the other end (left end) in the second direction B2 by the shift amount. In this embodiment, when the shift amount calculated using formulas (1) and (2) is a positive number, the setting unit 157b shifts the multiple second portions La2 to the left in the drawing by the shift amount.

[0133] Here, in the above case (Wb<Wa), if all of the second portions La2 are shifted, the shifted second portions La2 (first portions La1) will extend outside the contour of the field G. For this reason, the setting unit 157b shifts the second portions La2 of the multiple second portions La2 by the number of times that is the greatest common divisor of the first working width Wa with respect to the length of the field G in the second direction B2, and the route creation unit 57d connects adjacent first portions La1 to form a first turning portion Lb1.

[0134] On the other hand, when the second working width Wb is larger than the first working width Wa (Wa<Wb), and when the number c2 of the second working units 61a2 is larger than the number c1 of the first working units 61a1 (c1<c2), that is, when the shift amount calculated using equations (1) and (2) is a negative number, the setting unit 157b shifts the second portions La2 from the other end (left end) to one end (right end) of the second direction B2 by the shift amount. In this embodiment, when the shift amount calculated using equations (1) and (2) is a negative number, the setting unit 157b shifts the second portions La2 to the right on the paper surface by the shift amount.

[0135] In the above case (Wa<Wb), even if all the second portions La2 are shifted, there will still be areas in the field F where the first portions La1 have not been set. Therefore, in addition to shifting the second portions La2 to set the first portions La1, the setting unit 157b creates new first portions La1 on the drivable line R2, each separated by the first working width Wa. Specifically, the setting unit 157b creates new first portions La1 equal to the difference between the number of greatest common divisors of the first working widths Wa for the lengths of the field G in the second direction B2 and the number of second portions La2. The second creation unit 57d2 then connects adjacent first portions La1 to form the first turning portion Lb1. In this way, the route creation unit 57d (second creation unit 57d2) creates the first route L1.

[0136] 9A and the second working device 60B is the seed spreading device 75 shown in FIG. 9B , the setting unit 157b calculates the shift amount based on formula (2) because the first working device 60A and the second working device 60B are the first type of devices 61. The number c1 of first working units 61a1 is two, the number c2 of second working units 61a2 is four, and the number c1 of first working units 61a1 is greater than the number c2 of first working units 61a2. Therefore, the shift amount in formula (2) is a negative number. Therefore, the setting unit 157b shifts the plurality of second portions La2 to the right of the paper by the shift amount.

[0137] First, the setting unit 157b sets the first portion La1 by sequentially shifting the second portions La2 (m=1) of the second route L2, starting from the second portion La2 (m=1) located at one end (the right end) in the second direction B2. The setting unit 157b calculates using equation (2) that the shift amount of the second portion La2 (m=1) is equal to (a negative number of) the first interval x. As a result, as shown in FIG. 14 , the setting unit 157b shifts the second portion La2 (m=1) by the first interval x to the right of the page, thereby setting the first portion La1 (m=1).

[0138] After shifting the second portion La2 (m=1) to set the first portion La1 (m=1), the setting unit 157b shifts the second portion La2 (m=2) that is more inward than the second portion La2 (m=1). The setting unit 157b calculates using equation (2) that the shift amount of the second portion La2 (m=2) is equal to three times the first interval x (a negative number). As a result, as shown in FIG. 14 , the setting unit 157b shifts the second portion La2 (m=2) to the right of the page by three times the first interval x, and sets the first portion La1 (m=2).

[0139] When the setting unit 157b shifts the second part La2 (m = 5), it creates new first parts La1 equal to the difference between the greatest common divisor of the first working width Wa relative to the length of the second direction B2 of the field G (10) and the number of second parts La2 (5), that is, 5, and the second creation unit 57d2 connects each adjacent first part La1 to form the first rotating part Lb1.

[0140] As a result, the setting unit 157b extracts a drivable line R2 that reduces the unworked area E1 and overlapping work area E2 based on the work width W of the first information acquired by the first work acquisition unit 57e, so that the unworked area E1 and overlapping work area E2 do not occur, and sets the first part La1.

[0141] Below, mainly using Figures 15A and 15B, we will explain the acquisition of second information by the second work acquisition unit 57f in the first mode and the second mode, and the acquisition of first information by the first work acquisition unit 57e, following a series of flows.

[0142] As shown in FIG. 15A, when the display device 55 is displaying the selection screen D2 (S1), if a selection operation is performed and the first mode is selected (S2, Yes), the route creation unit 57d transitions to the first mode (S3).

[0143] When the route creation unit 57d transitions to the first mode (S3), the display control unit 57 displays the second work input screen D3 on the display unit 56 (S4). The second work input screen D3 is a screen that accepts input of information about the second work device 60B, and has a first input unit 110 that accepts input of second information.

[0144] 16 , the first input section 110 includes a first area 111 for receiving input of the second working width Wb, a second area 112 for receiving input of the number c2 of second working units 61a2, a third area 113 for receiving input of the type of second working device 60B, a fourth area 114 for receiving input of individual information about the second working device 60B, a fifth area 115 for receiving input of the model name of the second working device 60B, a sixth area 116 for receiving input of the unit working width Wc of the second working unit 61a2, and a seventh area 117 for receiving input of the first interval x of the second working device 60B. The first area 111, the second area 112, the sixth area 116, and the seventh area 117 each receive input as a numerical value by operating the display device 55, for example, while the third area 113, the fourth area 114, and the fifth area 115 each receive input as a character string by operating the display device 55, for example.

[0145] If the second work device 60B is a type 2 device 62 or a type 3 device 63, the second region 112 is not input, and the second work acquisition unit 57f does not acquire the number c2 of second work units 61a2. The second work acquisition unit 57f acquires second information including the second work width Wb and the number c2 of second work units 61a2 based on information input to the screen of the display unit 56. However, the input method of the second information is not limited to the method described above, and the source of the second information is not limited to the information input to the second work input screen D3. For example, the second work input screen D3 may be configured to accept input of the model of the work device 60, and the second work acquisition unit 57f may acquire the second information from a table pre-stored in the display storage unit 58. In such a case, the second information is stored as a table including the model of the work device 60, and the second information is acquired by using the model of the work device 60 as individual information. In addition, the second work acquisition unit 57f may be configured to acquire second information including the second work width Wb and the number c2 of second work units 61a2 based on an image captured by an imaging device provided on the work machine 1 or information detected by a detection device such as a sensor.

[0146] When second information is input into the second work input screen D3 and the first decision button 118 on the second work input screen D3 is selected, the second work acquisition unit 57f acquires second information including the second work width Wb and the number c2 of second work sections 61a2 input into the second work input screen D3 (S5).

[0147] 15A , when the second task acquisition unit 57f acquires the second information (S5), the display storage unit 58 stores the acquired second information (S6). Furthermore, when the display storage unit 58 stores the second information (S6), the first creation unit 57d1 (route creation unit 57d) creates a second route L2 based on the second information acquired by the second task acquisition unit 57f (S7). When the first creation unit 57d1 creates the second route L2 (S7), the display storage unit 58 stores the second route L2 in the display storage unit 58 (S8).

[0148] When the first creation unit 57d1 (route creation unit 57d) creates the second route L2 (S7) and the display storage unit 58 stores the second route L2 (S8), the route acquisition unit 57g acquires the second route L2 created by the first creation unit 57d1 from the display storage unit 58 (S9). Furthermore, when the route acquisition unit 57g acquires the second route L2 (S9), the display control unit 57 displays the first work input screen D4 on the display unit 56 (S10).

[0149] The first work input screen D4 is a screen for accepting input of information about the first work device 60A, and has a second input section 120 for accepting input of the first information, as shown in Fig. 17. The second input section 120 includes an eighth area 121 for accepting input of the first working width (second spacing) Wa, a ninth area 122 for accepting input of the number c1 of first working units 61a1, a tenth area 123 for accepting input of the type of first work device 60A, an eleventh area 124 for accepting input of individual information about the first work device 60A, a twelfth area 125 for accepting input of the model name of the first work device 60A, a thirteenth area 126 for accepting input of the unit working width Wc of the first working unit 61a1, and a fourteenth area 127 for accepting input of the first spacing x of the first work device 60A. The eighth area 121, the ninth area 122, the thirteenth area 126, and the fourteenth area 127 each accept a numerical input by, for example, operating the display device 55. The tenth area 123, the eleventh area 124, and the twelfth area 125 each accept a character string input by, for example, operating the display device 55.

[0150] If the first work device 60A is a type 2 or type 3 work device 62 or 63, the ninth region 122 is not input, and the first work acquisition unit 57e does not acquire the number c1 of first work units 61a1. The first work acquisition unit 57e acquires first information including the first working width Wa and the number c1 of first work units 61a1 based on information input to the screen of the display unit 56. However, the input method of the first information is not limited to the method described above, and the source of the first information is not limited to the information input to the first work input screen D4. For example, the first work input screen D4 may be configured to accept input of the model of the work device 60, and the first work acquisition unit 57e may acquire the first information from a table pre-stored in the display storage unit 58. In such a case, the first information is stored as a table including the model of the work device 60, and the first information is acquired by using the model of the work device 60 as individual information. In addition, the first work acquisition unit 57e may be configured to acquire first information including the first work width Wa and the number c1 of first work units 61a1 based on an image captured by an imaging device provided on the work machine 1 or information detected by a detection device such as a sensor.

[0151] When first information is input into the first work input screen D4 and the second decision button 128 on the first work input screen D4 is selected, the first work acquisition unit 57e acquires the first information including the first work width Wa and the number c1 of first work units 61a1 input into the first work input screen D4 (S11).

[0152] 15A , when first task acquisition unit 57e acquires first information (S11), display storage unit 58 stores the acquired first information (S12). Furthermore, when display storage unit 58 stores the first information (S12), determination unit 57i determines whether second task device 60B corresponding to second task Jn-1 is a third-type device 63 based on the second information corresponding to second route L2 (S13).

[0153] If the determination unit 57i determines that the second work device 60B is not the third type device 63, that is, if the determination unit 57i determines that the second work device 60B is the first type device 61 or the second type device 62 (S13, No), the second creation unit 57d2 (route creation unit 57d) creates a first route L1 based on the first information acquired by the first work acquisition unit 57e, the second information acquired by the second work acquisition unit 57f, and the second route L2 acquired by the route acquisition unit 57g (S14). In other words, when a travel-prohibited line R1 has been formed in the field G, the second creation unit 57d2 (route creation unit 57d) creates the first route L1 based on the first information acquired by the first work acquisition unit 57e, the second information acquired by the second work acquisition unit 57f, and the second route L2 acquired by the route acquisition unit 57g.

[0154] On the other hand, if the determination unit 57i determines that the second work device 60B is a third-type device 63 (S13, Yes), the second work acquisition unit 57f checks whether second information for a second work Jn-2, which occurs before the second work Jn-1 determined by the determination unit 57i in S12, is stored in the display storage unit 58 (S15). When the second work acquisition unit 57f confirms that second information for a second work Jn-2, which occurs before the second work Jn-1 determined by the determination unit 57i in S13, is present (S15, Yes), the second work acquisition unit 57f acquires the second information for the second work Jn-2 from the display storage unit 58 (S16). When the second work acquisition unit 57f acquires the second information for the second work Jn-2 from the display storage unit 58, the process returns to S13, and the determination unit 57i determines whether the second work device 60B corresponding to the second work Jn-2 is a third-type device 63 (S13).

[0155] Furthermore, when the second work acquisition unit 57f confirms that the second information of the second work Jn-2, which precedes the second work Jn-1 determined by the judgment unit 57i in S13 or S16, is not stored in the display memory unit 58 (S15, No), the first creation unit 57d1 creates the first route L1 based on the first information acquired by the first work acquisition unit 57e (S17).

[0156] As shown in FIGS. 15A and 15B, when the second mode is selected in S1 (S2, No), the route creation unit 57d proceeds to the flow of the second mode (S18).

[0157] When the route creation unit 57d transitions to the second mode (S18), the display control unit 57 displays the first work input screen D4 on the display unit 56 (S19). When first information is input to the first work input screen D4 and the second decision button 128 on the first work input screen D4 is selected, the first work acquisition unit 57e acquires the first information including the first work width Wa and the number c1 of first working units 61a1 input to the first work input screen D4 (S20).

[0158] 15B , when the first task acquisition unit 57e acquires the first information (S20), the display storage unit 58 stores the acquired first information (S21). Furthermore, when the display storage unit 58 stores the first information (S21), the second task acquisition unit 57f checks whether second information for a second task Jn-1, which precedes the first task Jn acquired in S20, is stored in the display storage unit 58 (S22). When the second task acquisition unit 57f confirms that second information for a second task Jn-1, which precedes the first task Jn acquired in S22, is present (Yes in S22), the second task acquisition unit 57f acquires the second information for the second task Jn-1 from the display storage unit 58 (S23). When the second task acquisition unit 57f acquires the second information from the display storage unit 58 (S23), the determination unit 57i determines whether the second task device 60B corresponding to the second task Jn-1 is a third-type device 63 (S24).

[0159] If the determination unit 57i determines that the second work device 60B corresponding to the second information is not the third type device 63, that is, if the determination unit 57i determines that the second work device 60B is the first type device 61 or the second type device 62 (S24, No), the second creation unit 57d2 creates a first route L1 based on the first information acquired by the first acquisition unit 57h, the second information acquired by the second acquisition unit 57e1, and the second route L2 (S25). In other words, when a travel-prohibited line R1 has been formed in the field G, the second creation unit 57d2 (route creation unit 57d) creates the first route L1 based on the first information acquired by the first work acquisition unit 57e, the second information acquired by the second work acquisition unit 57f, and the second route L2 acquired by the route acquisition unit 57g.

[0160] On the other hand, if the determination unit 57i determines that the second work device 60B corresponding to the second information is a third-type device 63 (S24, Yes), the second work acquisition unit 57f checks whether second information for a second work Jn-2, which precedes the second work Jn-1 determined by the determination unit 57i in S22, is stored in the display storage unit 58 (S26). When the second work acquisition unit 57f confirms that second information for a second work Jn-2, which precedes the second work Jn-1 determined by the determination unit 57i in S24, is present (S26, Yes), the second work acquisition unit 57f acquires the second information for the second work Jn-2 from the display storage unit 58 (S27). When the second work acquisition unit 57f acquires the second information from the display storage unit 58 (S27), the process returns to S24, and the determination unit 57i determines whether the second work device 60B corresponding to the second work Jn-2 is a third-type device 63 (S24).

[0161] Furthermore, when the second work acquisition unit 57f confirms that the second information of the second work Jn-1 is not stored in the display memory unit 58 (S22, No), or confirms that the second information of the second work Jn-2, which occurs before the second work Jn-1 acquired in S23 or S27, is not stored in the display memory unit 58 (S26, No), the first creation unit 57d1 creates the first route L1 based on the first information acquired by the second acquisition unit 57e1 (S28).

[0162] 15A and 15B , when the first route L1 is created in S14, S17, S25, or S28, the display storage unit 58 stores the first route L1 in the display storage unit 58 (S29). When the display storage unit 58 stores the first route L1 in the display storage unit 58 (S29), or when a predetermined operation is performed, the display control unit 57 displays a route display screen D5 on the display unit 56 to display the second route L2 and the first route L1 stored in the display storage unit 58 (S30).

[0163] 18 , the route display screen D5 has a route display section 130 that selectably displays, for example, the second route L2 and the first route L1, a switch button 131 that switches the display of the route display section 130, a second information display section 132 that shows field identification information such as the name (field name) and field control number of the field G, and a third information display section 133 that displays detailed information about the work to be performed in the field G. The route display section 130 displays the field F registered by the field registration section 57b, and displays either the second route L2 or the first route L1 on the field F in response to operation of the switch button 131.

[0164] Furthermore, the display control unit 57 acquires the vehicle body position VP detected by the position detection device (positioning device) 50, and displays the current position of the work implement 1 as an icon 130a on the route display unit 130 based on the vehicle body position VP. The third information display unit displays either the first information acquired by the first work acquisition unit 57e or the second information acquired by the second work acquisition unit 57f in response to operation of the switch button 131. In the present embodiment, for example, the third information display unit displays information such as the first working width Wa, the number c1 of first working units 61a1, the type, individual information, model name, unit working width Wc of the first working unit 61a1, and first interval x as the first information, and displays information such as the second working width Wb, the number c2 of second working units 61a2, the type, individual information, model name, unit working width Wc of the second working unit 61a2, and first interval x as the second information.

[0165] The above-described series of steps in which the route creation unit 57d creates the first route L1 is merely one example, and in the present embodiment described above, the first creation unit 57d1 creates the second route L2 (S7), the display memory unit 58 stores the second route L2 (S8), the route acquisition unit 57g acquires the second route L2 (S9), the display control unit 57 displays the first work input screen D4 on the display unit 56 (S10), and when the second work acquisition unit 57f acquires the second information (S5), the display control unit 57 displays the first work input screen D4 on the display unit 56 (S10), and after the first work acquisition unit 57e acquires the first information (S11), the first creation unit 57d1 creates the second route L2 (S7).

[0166] Furthermore, for example, in this embodiment, when the determination unit 57i determines in S13 and S24 that the second work device 60B corresponding to the second information is the third type device 63 (S13, S24, Yes), the second work acquisition unit 57f continues to repeat S13, S24, S25, S26, S27 until it determines that the second work device 60B corresponding to the second information is not the third type device 63 (S13, S24, No) or until it determines that the second information of the second work Jn-2 that precedes the second work Jn-1 is not stored in the display storage unit 58 (S15, S26, Yes). Steps S15 and S16, or steps S24, S26, and S27 are repeated to check whether the second information of the second work prior to the second work Jn-2 is stored in the display memory unit 58 (S26). However, if the first information acquired by the first work acquisition unit 57e includes the date and time of the first work and the second information acquired by the second work acquisition unit 57f includes the date and time of the second work, and if the interval between the second work and the first work is equal to or greater than a predetermined number of days, the process may proceed from S15 to S17, and from S26 to S28. Furthermore, the judgment unit 57i may determine whether the second work device 60B corresponding to the second job Jn-2 is a third-type device 63, and if the second work device 60B corresponding to the second job Jn-2 is a third-type device 63 (S13, S24, No), in other words, if the second work device 60B corresponding to the job Jn-2 (the second job) two jobs before the first job Jn is a third-type device 63, the flow may be such that the process proceeds from S15 to S17, and from S26 to S28.

[0167] Furthermore, in the above-described embodiment, an example was given in which the route creation unit 57d creates the first route L1 and the second route L2 together, but in addition to the first route L1 and the second route L2, the route creation unit 57d may also create a travel route L (third route) along which the work machine 1 travels in a third task, which is a task subsequent to the second task, and the number of travel routes L created together by the route creation unit 57d is not limited to two, but may be three or four.

[0168] Furthermore, in the above-described embodiment, the display device 55 displays the travel route L (second route L2 and first route L1) created by the route creation unit 57d on the display unit 56, but the control device 40 of the work machine 1 may also control the travel device 4 based on the travel route L created by the route creation unit 57d.

[0169] 19, for example, in the first modified example, the control device 40 has an automatic steering control unit 40a. The automatic steering control unit 40a is composed of electric and electronic circuits provided in the control device 40, programs stored in the CPU, etc. The automatic steering control unit 40a controls the steering motor 38 of the automatic steering mechanism 37 based on a control signal output from the control device 40 so that the vehicle body 2 travels along the travel route L.

[0170] 20 , when the deviation between the position of the vehicle body 2 and the traveling route L is less than a predetermined value, the automatic steering control unit 40a maintains the rotation angle of the rotation shaft of the steering motor 38. When the deviation between the position of the vehicle body 2 and the traveling route L is equal to or greater than a predetermined value and the work implement 1 is located on the left side of the traveling route L, the automatic steering control unit 40a rotates the rotation shaft of the steering motor 38 so that the steering direction of the work implement 1 is to the right. When the deviation between the position of the vehicle body 2 and the traveling route L is equal to or greater than a predetermined value and the work implement 1 is located on the right side of the traveling route L, the automatic steering control unit 40a rotates the rotation shaft of the steering motor 38 so that the steering direction of the work implement 1 is to the left.

[0171] In the above-described embodiment, the steering angle of the steering device 23 was changed based on the deviation between the position of the vehicle body 2 and the travel route L. However, as shown in the lower diagram of Figure 20, if the orientation of the travel route L differs from the orientation of the direction of travel (travel direction) of the work machine 1 (vehicle body 2) (orientation of the vehicle body 2), that is, if the angle θg of the orientation of the vehicle body 2 relative to the travel route L is a predetermined value or greater, the automatic steering control unit 40a may set the steering angle so that the angle θg becomes zero (so that the orientation of the vehicle body 2 matches the orientation of the travel route L).

[0172] Furthermore, the automatic steering control unit 40a may set the final steering angle in the automatic steering based on the steering angle calculated based on the deviation (position deviation) and the steering angle calculated based on the azimuth (azimuth deviation). The setting of the steering angle in the automatic steering in the above-described embodiment is an example and is not limited thereto.

[0173] In the above-described embodiment, the control device 40 of the work machine 1 is described as being configured to control the automatic steering of the work machine 1, but the control device 40 may also be configured to control the vehicle speed of the work machine 1 in addition to controlling the automatic steering mechanism 37.

[0174] As shown in Fig. 21 , in the second modified example, the control device 40 has an automatic travel control unit 40b that controls the automatic travel of the work machine 1. The automatic travel control unit 40b is composed of electric and electronic circuits provided in the control device 40, programs stored in the CPU, etc. When automatic travel begins, the automatic travel control unit 40b controls the steering motor 38 of the automatic steering mechanism 37 so that the work machine 1 travels along the travel route L. Furthermore, when automatic travel begins, the automatic travel control unit 40b controls the vehicle speed (travel speed) of the work machine 1 by automatically changing the gear position of the transmission 11, the rotation speed of the prime mover 8, etc.

[0175] When automatic driving begins, the automatic driving control unit 40b controls the traveling speed to different speeds at the demarcation line La and the turning section Lb. For example, at the demarcation line La, the automatic driving control unit 40b sets the traveling speed to speed α. On the other hand, at the turning section Lb, the automatic driving control unit 40b sets the traveling speed to speed β (β<α), which is slower than speed α. Note that the automatic driving control unit 40b may divide the demarcation line La into multiple sections and set different traveling speeds for each section; the control of the traveling speed is not limited to the above configuration.

[0176] The automatic traveling control unit 40b controls the steering motor 38 of the automatic steering mechanism 37 so that the work machine 1 travels along the travel route L in the same manner as the automatic steering control unit 40a described above.

[0177] The above-described work implement 1 includes a vehicle body 2, a first work device 60A that can be attached to the vehicle body 2, a traveling device 4 provided on the vehicle body 2, a first acquisition unit 57h that acquires a plurality of travel-prohibited lines R1 that extend from one end of the field G to the other end thereof and are formed at first intervals x, and a route creation unit 57d that creates a first route L1 that extends from one end of the field G to the other end thereof and includes a plurality of first portions La1 along which the vehicle body 2 travels, based on the plurality of travel-prohibited lines R1 acquired by the first acquisition unit 57h. The route creation unit 57d includes a line definition unit 157a that defines areas of the field G other than the plurality of impassable lines R1 as a plurality of drivable lines R2 based on the plurality of impassable lines R1 acquired by the first acquisition unit 57h, and a setting unit 157b that sets, based on the plurality of drivable lines R2 defined by the line definition unit 157a, a plurality of first portions La1 that extend from one end of the field G to the other end and along which the traveling device 4 travels on the plurality of drivable lines R2. According to the above configuration, the work machine 1 can travel on the drivable lines R2, straddling the impassable lines R1. Therefore, by the setting unit 157b setting the first portions La1 based on the plurality of drivable lines R2, the route creation unit 57d can create the first portions La1 along which the work machine 1 can travel without encroaching on the impassable lines R1. This allows the work machine 1 to work efficiently in the field G without traveling on the no-travel line R1.

[0178] The traveling device 4 also includes a first traveling unit 4L provided on the vehicle body 2 and a second traveling unit 4R provided on the vehicle body 2 away from the first traveling unit 4L so as to be positioned on another traveling line R2 when the first traveling unit 4L is positioned on one traveling line R2. The setting unit 157b extracts two traveling lines R2 from the plurality of traveling lines R2 and sets a plurality of first portions La1 based on the two extracted traveling lines R2. According to the above configuration, the setting unit 157b can set the first portions La1 corresponding to the traveling line R2 on which the first traveling unit 4L travels and the traveling line R2 on which the second traveling unit 4R travels. This allows the setting unit 157b to more reliably prevent the first traveling unit 4L and the second traveling unit 4R from traveling on the traveling-prohibited line R1.

[0179] The work machine 1 also includes a second acquisition unit 57e1 that acquires a second interval Wa, which is the first working width Wa. The setting unit 157b sets the multiple first portions La1 based on the second interval Wa acquired by the second acquisition unit 57e1 so that the interval between two adjacent demarcation lines La is substantially the same as the second interval Wa. According to the above configuration, the setting unit 157b can prevent the areas where the first work device 60A works from separating or overlapping when the work machine 1 travels along two adjacent demarcation lines La. Therefore, the work machine 1 can prevent the wasteful creation of an unworked area E1 where the first work device 60A did not work, or an overlapping work area E2 where the first work device 60A re-works an area where it has already worked.

[0180] Furthermore, the first acquisition unit 57h acquires, as the multiple no-travel lines R1, multiple work lines R1 where work has been performed at first intervals x from one end of the field G to the other end or from the other end to the one end. With the above configuration, the work machine 1 traveling on the first portion La1 can perform work without encroaching on the multiple work lines R1. This allows the work machine 1 to perform work more efficiently without disturbing areas where work has already been performed.

[0181] Furthermore, the multiple work lines R1 acquired by the first acquisition unit 57h as the multiple no-travel lines R1 are ridge lines Ra where ridge formation work has been performed, or crop lines Rb where crop seeds have been sown or planted. According to the above configuration, the work machine 1 traveling on the first section La1 can perform work without destroying the ridges or the top surfaces of the ridges or damaging the sown seeds or grown crops. This allows the work machine 1 to travel on the first section La1 and perform work efficiently while preventing interference with the growth of seeds and crops or a decline in crop quality.

[0182] The work implement 1 also includes a route acquisition unit 57g that acquires a second route L2 when the vehicle body 2 performs work in the field G, a second work device 60B that can be attached to the vehicle body 2 and that performs a second work task that precedes a first work task that is performed by the first work device 60A, and a coupling device 30 that couples either the first work device 60A or the second work device 60B to the vehicle body 2, the coupling device 30 being capable of coupling the second work device 60B that performs a second work task that precedes the first work task that is performed by the first work device 60A to the vehicle body 2, and the second work device 60B being capable of performing work at first intervals x, and the route acquisition unit 57g ... The vehicle body 2 coupled to the second work implement 60B travels and acquires a plurality of second portions La2 extending from one end of the field G to the other end, and the plurality of non-travelable lines R1 are a plurality of work lines R1 formed at first intervals x as the vehicle body 2 travels on the plurality of second portions La2 and the second work implement 60B performs the second work from one end of the field G to the other end, or from the other end to the one end, and the setting unit 157b sets a plurality of first portions La1 by shifting the second route L2 acquired by the route acquisition unit 57g based on the plurality of travelable lines R2 defined by the line definition unit 157a. According to the above configuration, the route creation unit 57d changes the second route L2 when the work implement 1 performs the second work and creates a first route L1 including the first portions La1, thereby omitting the input of various information included in the second route L2 and easily setting the first portions La1. Furthermore, the work corresponding to the second work (first work) can be performed more accurately.

[0183] The work implement 1 also includes a position detection device 50 that detects the position of the vehicle body 2, and a display device 55 that displays the position of the vehicle body 2 detected by the position detection device 50 and the first route L1 created by the route creation unit 57d. According to the above configuration, it is possible to display the first route L1 (first portion La1) that can be traveled without encroaching on the no-travel line R1. Therefore, the worker can operate the work implement 1 while visually checking the first portion La1 displayed on the display device 55 and checking the position of the vehicle body 2 and the first route L1, and travel the work implement 1 along the first portion La1, thereby efficiently performing work in the field G without traveling on the no-travel line R1.

[0184] The work implement 1 also includes a position detection device 50 that detects the position of the vehicle body 2, and an automatic steering control unit 40a that controls the steering of the traveling device 4 based on the position of the vehicle body 2 detected by the position detection device 50 and the first route L1 created by the route creation unit 57d. According to the above configuration, the automatic steering control unit 40a controls the steering and causes the work implement 1 to travel along the first route L1 (first portion La1) without the operator having to steer the work implement 1, thereby enabling efficient work to be performed in the field G without traveling on the no-travel line R1. This further improves the workability of the work implement 1.

[0185] The work implement 1 also includes a position detection device 50 that detects the position of the vehicle body 2, and an automatic travel control unit 40b that controls the steering and vehicle speed of the travel device 4 based on the position of the vehicle body 2 detected by the position detection device 50 and the first route L1 created by the route creation unit 57d. According to the above configuration, the automatic travel control unit 40b controls the steering and vehicle speed to travel the work implement 1 along the first route L1 (first portion La1) without the operator having to steer or operate the vehicle speed of the work implement 1, thereby enabling efficient work to be performed in the field G without traveling on the no-travel line R1. This further improves the workability of the work implement 1.

[0186] The work implement 1 described above includes a vehicle body 2, a first work device 60A that can be attached to the vehicle body 2 and that performs a first work, a traveling device 4 provided on the vehicle body 2, a first work acquisition unit 57e that acquires first information about the first work device 60A, a second work acquisition unit 57f that acquires second information about a second work device 60B that performs a second work that is a work before the first work, a route acquisition unit 57g that acquires a second route L2 that is the route of the second work, and a route acquisition unit 57g that acquires a route L3 of the first work that extends from one end side to the other end side of the field G and is arranged apart from each other. The system further includes a route creation unit 57d that creates a first route L1 including a plurality of first portions La1 obtained by the first work acquisition unit 57e. The route acquisition unit 57g acquires, as a second route L2, a plurality of second portions La2 that extend from one end of the field G to the other end and are spaced apart from one another. The route creation unit 57d creates a plurality of first portions La1 by shifting the plurality of second portions La2 in a direction perpendicular to the plurality of second portions La2 based on the first information acquired by the first work acquisition unit 57e and the second information acquired by the second work acquisition unit 57f. According to the above configuration, the route creation unit 57d can shift the second portions La2, which are the path taken when the second work is performed, i.e., change the second route L2, to create a first route L1 including the first portions La1. This eliminates the need to input various information included in the second route L2, and allows the first route L1 (first portions La1) to be easily created. Furthermore, the work corresponding to the second work (first work) can be performed more accurately.

[0187] Furthermore, the first portions La1 are arranged at equal intervals, and the second portions La2 are arranged at equal intervals that are different from the intervals between the first portions La1 and La2. With this configuration, it is possible to prevent the occurrence of unworked areas E1 and overlapping work areas E2 in both the first work and the second work.

[0188] Furthermore, the first work acquisition unit 57e acquires the first work width Wa of the first work device 60A as the first information, and the second work acquisition unit 57f acquires the second work width Wb of the second work device 60B as the second information. The route creation unit 57d creates the first portion La1 by shifting each of the multiple second portions La2 based on the difference between the first work width Wa acquired by the first work acquisition unit 57e and the second work width Wb acquired by the second work acquisition unit 57f. According to the above configuration, when shifting the second portions La2 to create the first portion La1, the route creation unit 57d can position the first portion La1 at a position corresponding to the first work width Wa. In other words, when the work machine 1 travels through the first portion La1, it is possible to prevent the areas where the first work device 60A performs work from separating or overlapping. Therefore, by traveling through the first portion La1, the work machine 1 can prevent the creation of an unworked area E1 where the first work device 60A has not performed any work, or an overlapping work area E2 where the first work device 60A has already performed work on an area.

[0189] Furthermore, the route creation unit 57d creates the first portion La1 by shifting the second portion La2 by the product of the difference between the first working width Wa acquired by the first work acquisition unit 57e and the second working width Wb acquired by the second work acquisition unit 57f and a natural number multiple of 1 / 2. According to the above configuration, the work machine 1 can reliably and simply prevent the creation of an unworked area E1 of the first work device 60A and an overlapping work area E2 of the first work device 60A.

[0190] Furthermore, the first work device 60A has a plurality of first work units 61a1 arranged singly or at first intervals x in the width direction, and the second work device 60B has a plurality of second work units 61a2 arranged singly or at first intervals x in the width direction, the first work acquisition unit 57e acquires the number c1 of the first work units 61a1 as first information, the second work acquisition unit 57f acquires the number c2 of the second work units 61a2 as second information, and the route creation unit 57d creates a plurality of first portions La1 by shifting each of the plurality of second portions La2 based on the difference between the number c1 of the first work units 61a1 acquired by the first work acquisition unit 57e and the number c2 of the second work units 61a2 acquired by the second work acquisition unit 57f and the first interval x. According to the above configuration, when the route creation unit 57d shifts the second portion La2 to create the first portion La1, it can position the first portion La1 in a position corresponding to the first working unit 61a1 and the second working unit 61a2. In other words, by having the work machine 1 travel along the first portion La1, the first working unit 61a1 can reliably perform work at the position where the second working unit 61a2 performed work. This makes it possible to prevent the areas where the first working device 60A performs work from separating or overlapping when the work machine 1 travels along the first portion La1.

[0191] Furthermore, the route creation unit 57d creates the multiple first portions La1 by shifting each of the multiple second portions La2 by the product of the difference between the number c1 of first working units 61a1 acquired by the first task acquisition unit 57e and the number c2 of second working units 61a2 acquired by the second task acquisition unit 57f, the first interval x, and a natural number multiple of 1 / 2. According to the above configuration, the work machine 1 can reliably and simply prevent the creation of an unworked area E1 of the first working device 60A and an overlapping work area E2 of the first working device 60A.

[0192] Furthermore, the first work acquisition unit 57e acquires the first working width Wa of the first work device 60A as the first information, the route creation unit 57d creates a second route L2 based on the first working width Wa, and the route acquisition unit 57g acquires the second route L2 created by the route creation unit 57d. With the above configuration, when traveling along the second route L2, the work machine 1 can prevent the creation of an unworked area E1 where the second work device 60B has not performed work, or an overlapping work area E2 where the second work device 60B has already performed work, and the route creation unit 57d can easily create a first route L1 with high work efficiency based on the second route L2 with high work efficiency.

[0193] The work implement 1 also includes a position detection device 50 that detects the position of the vehicle body 2, and when the vehicle body 2 to which the second work implement 60B is coupled moves, the route acquisition unit 57g acquires the second route L2 based on the position of the vehicle body 2 acquired by the position detection device 50. According to the above configuration, when the second work is performed, the second route L2 can be created, and the work implement 1 can acquire the second route L2 simply and efficiently.

[0194] The work implement 1 also includes a position detection device 50 that detects the position of the vehicle body 2, and a display device 55 that displays the position of the vehicle body 2 detected by the position detection device 50 and the first route L1 created by the route creation unit 57d. According to the above configuration, the worker can efficiently work in the field G by visually checking the first portion La1 displayed on the display device 55 and operating the work implement 1 while checking the position of the vehicle body 2 and the first route L1, and causing the work implement 1 to travel along the first portion La1.

[0195] The work implement 1 also includes a position detection device 50 that detects the position of the vehicle body 2, and an automatic steering control unit 40a that controls the steering of the traveling device 4 based on the position of the vehicle body 2 detected by the position detection device 50 and the first route L1 created by the route creation unit 57d. According to the above configuration, the automatic steering control unit 40a controls the steering and causes the work implement 1 to travel along the first route L1 (first portion La1) without the operator having to steer the work implement 1, thereby enabling efficient work to be performed in the field G. This further improves the workability of the work implement 1.

[0196] The work implement 1 also includes a position detection device 50 that detects the position of the vehicle body 2, and an automatic travel control unit 40b that controls the steering and vehicle speed of the travel device 4 based on the position of the vehicle body 2 detected by the position detection device 50 and the first route L1 created by the route creation unit 57d. According to the above configuration, the automatic travel control unit 40b controls the steering and vehicle speed to travel the work implement 1 along the first route L1 (first portion La1) without the operator having to steer or operate the vehicle speed of the work implement 1, thereby enabling efficient work to be performed in the field G. This further improves the workability of the work implement 1.

[0197] The work machine also includes a coupling device 30 that can selectively couple a first work device 60A or a second work device 60B to the vehicle body 2, and the first route L1 is a route along which the vehicle body 2 equipped with the first work device 60A travels via the coupling device 30, and the second route L2 is a route along which the vehicle body 2 equipped with the second work device 60B travels via the coupling device 30. According to the above configuration, when the first work and the second work are performed on the same vehicle body 2, the work can be performed more appropriately by creating the first route L1 using the second route L2 as described above, and having the vehicle body 2 travel along the first route L1 to perform the first work.

[0198] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0199] For example, in the above embodiment, a case has been described in which the number of working units 61a owned by the first type device 61 is even, but the present invention is also applicable to a case in which the number of working units 61a owned by the first type device 61 is odd. In such a case, if both the first working device 60A and the second working device 60B are first type devices 61, the present invention is applicable to a case in which both the first working units 61a1 and the second working units 61a2 are the same odd number.

[0200] For example, in the above-described embodiment, the work line R1 was described as an example of the no-travel line R1, but the no-travel line R1 may be an area that the traveling device 4 (first traveling section 4L, second traveling section 4R) cannot enter, and may be an area that extends from one end of the field G to the other end (first direction B1) and is formed at first intervals x, and may be, for example, a trench, etc., and is not limited to the work line R1.

[0201] REFERENCE SIGNS LIST 1 Work implement 2 Body 4 Traveling device 4A Front wheels 4B Rear wheels 30 Coupling device 40a Automatic steering control unit 40b Automatic travel control unit 50 Position detection device 55 Display device 57d Route creation unit 57e1 Second acquisition unit 57g Route acquisition unit 57h First acquisition unit 60A First work device 60B Second work device 157a Line definition unit 157b Setting unit E1 Unworked area E2 Overlapping work area G Field La Division line La1 First part La2 Second part L1 First route L2 Second route R1 Work line (non-travelable line) R2 Travelable line Ra Ridge line Rb Crop line Wa First work width (second interval) x First interval

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